The exploration of planetary surfaces with unmanned wheeled vehicles will require so-phisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.

Model-based slippage estimation to enhance planetary rover localization with wheel odometry / Gargiulo, A. M.; Di Stefano, I.; Genova, A.. - In: APPLIED SCIENCES. - ISSN 2076-3417. - 11:12(2021), pp. 1-17. [10.3390/app11125490]

Model-based slippage estimation to enhance planetary rover localization with wheel odometry

Gargiulo A. M.;Di Stefano I.;Genova A.
2021

Abstract

The exploration of planetary surfaces with unmanned wheeled vehicles will require so-phisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.
2021
planetary rover localization; wheel odometry correction; wheel slippage
01 Pubblicazione su rivista::01a Articolo in rivista
Model-based slippage estimation to enhance planetary rover localization with wheel odometry / Gargiulo, A. M.; Di Stefano, I.; Genova, A.. - In: APPLIED SCIENCES. - ISSN 2076-3417. - 11:12(2021), pp. 1-17. [10.3390/app11125490]
File allegati a questo prodotto
File Dimensione Formato  
Gargiulo_Model-based_2021.pdf

accesso aperto

Note: https://doi.org/10.3390/app11125490
Tipologia: Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza: Creative commons
Dimensione 7.42 MB
Formato Adobe PDF
7.42 MB Adobe PDF

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1622869
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 8
  • ???jsp.display-item.citation.isi??? 5
social impact