Estimation of optimal control parameters for exploration rovers based on characteristics of grouser wheels

Abstract

This paper proposes a new method of estimating optimal control parameters such as maximum friction coefficients and the optimal slip ratios for optimal slip control of grouser-wheeled exploration rovers on rough terrain. The exploration rover must classify terrains currently traveling and estimate the parameters required for driving control. Among the existing methods, there are methods of accurately estimating parameters by applying friction coefficients and slip ratios measured using a contact sensor to a friction-slip model. However, there is a problem that the estimation accuracy is very poor in a situation when the slip ratio is small. In this paper, we propose a method of estimating parameters using the motion characteristics of the grouser wheel when slip ratio is small. Though this method, it was confirmed that the parameters were accurately estimated even when the slip ratio was small, and verified through experiments using NASA’s ‘Opportunity’ size exploration rover.