Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover

Abstract

Abstract-High speed unmanned ground vehicles evolving on natural terrains can exhibit a significant slip and skid. An estimation of both friction and traction forces can allow to achieve a better control. In order to implement a control architecture based on the vehicle dynamic model and the wheel-soil interaction model, the knowledge of the wheels slip rate is required. The wheel angular velocities can be precisely measured. But the true measurement of the ground speed of the vehicle is much more challenging. A low-cost Doppler radar is used, in conjunction with an accelerometer, to obtain the ground speed. Thus, the knowledge of the slip rate allows us to set up an in-situ procedure for the estimation of soil parameters that is based on the measurement of the motors torques. A wheel slippage controler has also been implemented, which is a first step toward high-level dynamic control.

Dynamic path tracking control of a vehicle on slippery terrain

“…Mainly two distinct approaches can be identified in this framework: the first one relies on an accurate modeling and estimation of the wheel-soil interactions and their use in the control law; the second one is based on the estimation of the grip conditions to define unstable and forbidden domains in the system state space. In Lhomme-Desages, Grand, Ben Amar, and Guinot (2009), an on-line estimation procedure of the wheel-ground slippages based on terramechanic models has been proposed. The resulting slippage estimator was included in a trajectory controller in order to improve mobility on natural terrains (Lhomme-Desages, Grand, & Guinot, 2007).…”

Traversability based obstacle avoidance path-planning and path-following control for lunar rover

“…The process of kinematics modeling is complex but neglects the dynamic performance of the robot. Based on the dynamics and wheel-soil interaction model, Lhomme [16] proposed a PID control algorithm, based on the measurement of ground speed using a Doppler radar, but little research of control algorithms has been done.…”

Accurate and stable mobile robot path tracking: An integrated solution for off-road and high speed context

“…In [8], the authors propose an online estimation procedure of the wheel-ground slippages, based on Terra-mechanics models. The slippage conditions are included in a trajectory controller in order to improve mobility over difficult terrains.…”