Zhicheng Jia , Jingfu Jin , Xinju Dong , Lianbin He , Meng Zou , Yingchun Qi
{"title":"行星漫游车行驶过程中位置和姿态偏差的实验研究与分析","authors":"Zhicheng Jia , Jingfu Jin , Xinju Dong , Lianbin He , Meng Zou , Yingchun Qi","doi":"10.1016/j.jterra.2024.100974","DOIUrl":null,"url":null,"abstract":"<div><p>Reducing the position and attitude deviation of the planetary rover while driving is an important issue that needs to be considered in the design and controller development of the new types of planetary rovers at this stage. It is also the basis for whether the rovers can carry out exploration missions with high precision requirements on the complex terrain of planetary surfaces. A systematic study of the deviation problems generated by planetary rovers under the most basic open-loop path control is of great significance to improve the effectiveness of planetary detection. In this study, based on simulated Martian terrain and soil, planetary rover driving experiments under various scenes were conducted to test the resulting position and attitude deviation and evaluation indexes under different path types, terrain distributions, driving speeds and steering radius. By combining the experimental phenomena, the action characteristics of single wheel with ground and its influence on the state of the whole vehicle during the deviation generation process are analyzed. And finally, the discussion and conclusion are directed to how to optimize the planetary rover path control. These systematic experiments and analyses can provide valuable references for researchers engaged in the development of mobile controllers for planetary rovers.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"113 ","pages":"Article 100974"},"PeriodicalIF":2.4000,"publicationDate":"2024-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Experimental study and analysis of the position and attitude deviation of planetary rover during driving\",\"authors\":\"Zhicheng Jia , Jingfu Jin , Xinju Dong , Lianbin He , Meng Zou , Yingchun Qi\",\"doi\":\"10.1016/j.jterra.2024.100974\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Reducing the position and attitude deviation of the planetary rover while driving is an important issue that needs to be considered in the design and controller development of the new types of planetary rovers at this stage. It is also the basis for whether the rovers can carry out exploration missions with high precision requirements on the complex terrain of planetary surfaces. A systematic study of the deviation problems generated by planetary rovers under the most basic open-loop path control is of great significance to improve the effectiveness of planetary detection. In this study, based on simulated Martian terrain and soil, planetary rover driving experiments under various scenes were conducted to test the resulting position and attitude deviation and evaluation indexes under different path types, terrain distributions, driving speeds and steering radius. By combining the experimental phenomena, the action characteristics of single wheel with ground and its influence on the state of the whole vehicle during the deviation generation process are analyzed. And finally, the discussion and conclusion are directed to how to optimize the planetary rover path control. These systematic experiments and analyses can provide valuable references for researchers engaged in the development of mobile controllers for planetary rovers.</p></div>\",\"PeriodicalId\":50023,\"journal\":{\"name\":\"Journal of Terramechanics\",\"volume\":\"113 \",\"pages\":\"Article 100974\"},\"PeriodicalIF\":2.4000,\"publicationDate\":\"2024-04-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Terramechanics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0022489824000168\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, ENVIRONMENTAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Terramechanics","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022489824000168","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ENVIRONMENTAL","Score":null,"Total":0}
Experimental study and analysis of the position and attitude deviation of planetary rover during driving
Reducing the position and attitude deviation of the planetary rover while driving is an important issue that needs to be considered in the design and controller development of the new types of planetary rovers at this stage. It is also the basis for whether the rovers can carry out exploration missions with high precision requirements on the complex terrain of planetary surfaces. A systematic study of the deviation problems generated by planetary rovers under the most basic open-loop path control is of great significance to improve the effectiveness of planetary detection. In this study, based on simulated Martian terrain and soil, planetary rover driving experiments under various scenes were conducted to test the resulting position and attitude deviation and evaluation indexes under different path types, terrain distributions, driving speeds and steering radius. By combining the experimental phenomena, the action characteristics of single wheel with ground and its influence on the state of the whole vehicle during the deviation generation process are analyzed. And finally, the discussion and conclusion are directed to how to optimize the planetary rover path control. These systematic experiments and analyses can provide valuable references for researchers engaged in the development of mobile controllers for planetary rovers.
期刊介绍:
The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics.
The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities.
The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.