2 research outputs found
Terrain-Dependent Slip Risk Prediction for Planetary Exploration Rovers
Wheel slip prediction on rough terrain is crucial for secure, long-term operations of planetary exploration rovers. Although rough, unstructured terrain hampers mobility, prediction by modeling wheelβterrain interactions remains difficult owing to unclear terrain conditions and complexities of terramechanics models. This study proposes a vision-based approach with machine learning for predicting wheel slip risk by estimating the slope from 3D information and classifying terrain types from image information. It considers the slope estimation accuracy for risk prediction under sharp increases in wheel slip due to inclined ground. Experimental results obtained with a rover testbed on several terrain types validate this method
ΠΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠ΅ ΡΡΡΠ΅ΠΊΡΠΎΠ² ΠΏΡΠΎΡΠΊΠ°Π»ΡΠ·ΡΠ²Π°Π½ΠΈΡ ΠΏΡΠΈ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΈ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° ΠΏΡΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠΈ ΠΏΠΎ Π½Π΅ΠΎΠ΄Π½ΠΎΡΠΎΠ΄Π½ΡΠΌ ΠΏΠΎΠ²Π΅ΡΡ Π½ΠΎΡΡΡΠΌ
Π ΡΠ°Π±ΠΎΡΠ΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½ΠΎ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠ΅ ΠΏΡΠΎΡΠΊΠ°Π»ΡΠ·ΡΠ²Π°Π½ΠΈΡ ΠΊΠΎΠ»ΡΡ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° Π² Π·Π°Π΄Π°ΡΠ΅ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΈ ΠΏΡΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠΈ ΠΏΠΎ Π½Π΅ΠΎΠ΄Π½ΠΎΡΠΎΠ΄Π½ΠΎΠΉ ΠΏΠΎΠ²Π΅ΡΡ
Π½ΠΎΡΡΠΈ. ΠΡΠ»ΠΈ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½Ρ ΡΠΊΡΠΏΠ΅ΡΠΈΠΌΠ΅Π½ΡΡ ΠΏΠΎ ΠΏΠΎΠ»ΡΡΠ΅Π½ΠΈΡ Π΄Π°Π½Π½ΡΡ
ΠΎ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠΈ ΡΠΎΠ±ΠΎΡΠ° ΠΏΠΎ ΠΏΠΎΠ²Π΅ΡΡ
Π½ΠΎΡΡΡΠΌ Ρ ΡΠ°Π·Π»ΠΈΡΠ½ΡΠΌ ΡΠ²ΠΎΠΉΡΡΠ²Π°ΠΌΠΈ. ΠΠ° ΠΎΡΠ½ΠΎΠ²Π΅ ΡΠΊΡΠΏΠ΅ΡΠΈΠΌΠ΅Π½ΡΠ°Π»ΡΠ½ΡΡ
Π΄Π°Π½Π½ΡΡ
Π±ΡΠ»ΠΈ ΠΏΠΎΡΡΡΠΎΠ΅Π½Ρ ΠΌΠΎΠ΄Π΅Π»ΠΈ Π·Π°Π²ΠΈΡΠΈΠΌΠΎΡΡΠΈ ΠΊΠΎΡΡΡΠΈΡΠΈΠ΅Π½ΡΠ° ΠΏΡΠΎΡΠΊΠ°Π»ΡΠ·ΡΠ²Π°Π½ΠΈΡ ΠΊΠΎΠ»Π΅ΡΠ° ΠΎΡ ΡΠΎΠΊΠ° Π΄Π²ΠΈΠ³Π°ΡΠ΅Π»Ρ Ρ ΡΡΡΡΠΎΠΌ Π½ΠΎΡΠΌΠΈΡΠΎΠ²Π°Π½Π½ΠΎΠΉ ΡΠ³Π»ΠΎΠ²ΠΎΠΉ ΡΠΊΠΎΡΠΎΡΡΠΈ ΠΊΠΎΠ»ΡΡ. ΠΠ»Ρ ΡΠΈΠ»ΡΡΡΠ°ΡΠΈΠΈ ΡΡΠΌΠΎΠ² Π² ΠΈΠ·ΠΌΠ΅ΡΠ΅Π½ΠΈΡΡ
ΡΠΎΠΊΠ° Π΄Π²ΠΈΠ³Π°ΡΠ΅Π»Π΅ΠΉ Π±ΡΠ» Π½Π°ΡΡΡΠΎΠ΅Π½ ΡΠΈΠ»ΡΡΡ ΠΠ°Π»ΠΌΠ°Π½Π°. Π Π·Π°ΠΊΠ»ΡΡΠ΅Π½ΠΈΠΈ Π±ΡΠ»Π° ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½Π° Π°ΠΏΡΠΎΠ±Π°ΡΠΈΡ ΡΠ°Π±ΠΎΡΡ ΡΠΈΡΡΠ΅ΠΌΡ ΠΎΡΠ΅Π½ΠΊΠΈ ΠΏΡΠΎΡΠΊΠ°Π»ΡΠ·ΡΠ²Π°Π½ΠΈΡ ΠΊΠΎΠ»ΡΡ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ°.This paper presents a study of the wheel slippage of a mobile robot in a navigation problem while moving on a heterogeneous surface. Experiments were carried out to obtain data on the motion of the robot on surfaces with different properties. Models of the relationship between wheel slippage and motor current, taking into account the normalized angular velocity of the wheels, were constructed based on the experimental data. A Kalman filter was tuned to filter the noise in the motor current measurements. Finally, the wheel slippage estimation system of the mobile robot was tested