Model predictive allocation control for leg-wheel mobile robot on loose soil considering wheel dynamics

For the planetary exploration rover, to cope with the layer of heterogeneous superficial deposits called regolith is important so as to achieve designed traction. In order to consider effects of wheel motion, model predictive allocation control is proposed. To cope with complex terramechanics in MPC (model predictive control), the identification technique is introduced; the proposed MPC is formed as a linear optimization problem. The rover model and terramechanics are described using modelica and simulate to evaluate the performance of the proposed method. The suppressed of superfluous slip and enhancement of traction performance is numerically shown.