A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots
	Liu GJ(刘光军); Li YK(李元凯); Zheng, Zhizhong ; Ding, Liang ; Yang, Qizhi ; Zhao XG(赵新刚)
刊名	Mechanical Systems and Signal Processing
	2018
卷号	104 页码:758-775
关键词	Terrain parameters Real-time estimation Multi-mode recursive Gauss-Newton method adaptive robust extended Kalman filter
ISSN号	0888-3270
通讯作者	Li YK(李元凯)
产权排序	1
中文摘要	For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an outer layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Mechanical
研究领域[WOS]	Engineering
关键词[WOS]	PLANETARY EXPLORATION ROVERS ; DEFORMABLE ROUGH TERRAIN ; INTERACTION-MODEL ; SOIL ; TRACKING ; FILTER ; IDENTIFICATION ; VEHICLE
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000423652800049
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21472]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China 2.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China 3.School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China 4.Department of Aerospace Engineering, Ryerson University, Toronto, Canada 5.School of Mechanical Engineering, Jiangsu University, Zhenjiang, China 6.National Engineering & Technology Research Center for Digital Switching System, Zhengzhou, China
推荐引用方式 GB/T 7714	Liu GJ,Li YK,Zheng, Zhizhong,et al. A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots[J]. Mechanical Systems and Signal Processing,2018,104:758-775.
APA	Liu GJ,Li YK,Zheng, Zhizhong,Ding, Liang,Yang, Qizhi,&Zhao XG.(2018).A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots.Mechanical Systems and Signal Processing,104,758-775.
MLA	Liu GJ,et al."A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots".Mechanical Systems and Signal Processing 104(2018):758-775.