Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain.

ABSTRACT: A planetary exploration rover has been employed for scientific endeavors or as a precursor for upcoming manned missions. Predicting rover traversability from its wheel slip ensures safe and efficient autonomous operations of rovers on deformable planetary surfaces; path planning algorithms that reduce slips by considering wheel-soil interaction or terrain data can minimize the risk of the rover becoming immobilized. Understanding wheel-soil interaction in transient states is vital for developing a more precise slip ratio prediction model, while path planning in the past assumes that slips generated at the path is a series of slip ratio in steady state. In this paper, we focus on the transient slip, or slip rate the time derivative of slip ratio, to explicitly address it into the cost funct

SUBMITTER: Sakayori G 

PROVIDER: S-EPMC10850232 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature