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Research Papers

Trajectory Control and Sensitivity Analysis of Curiosity Rover on Uneven Terrains

[+] Author and Article Information
Shiva Tashakori

School of Automotive Engineering,
Iran University of Science and Technology,
Narmak, Tehran 16844, Iran
e-mail: tashakori_shiva@auto.iust.ac.ir

Saleh Kasiri Bidhendi

School of Automotive Engineering,
Iran University of Science and Technology,
Narmak, Tehran 16844, Iran
e-mail: s_kasiri@alumni.iust.ac.ir

Behrooz Mashadi

School of Automotive Engineering,
Iran University of Science and Technology,
Narmak, Tehran 16844, Iran
e-mail: b_mashhadi@iust.ac.ir

Javad Marzbanrad

School of Automotive Engineering,
Iran University of Science and Technology,
Narmak, Tehran 16844, Iran
e-mail: marzban@iust.ac.ir

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 18, 2018; final manuscript received May 16, 2019; published online June 27, 2019. Assoc. Editor: Richard Bearee.

J. Dyn. Sys., Meas., Control 141(11), 111001 (Jun 27, 2019) (13 pages) Paper No: DS-18-1519; doi: 10.1115/1.4043910 History: Received November 18, 2018; Revised May 16, 2019

In this paper, the six-wheel lunar rover is simulated in Adams/View software environment and then via co-simulation between adams and matlab/simulink with which a path-following controller is designed and implemented on the rocker-bogie mechanism. The proposed algorithm consists of three parts. First, the inverse kinematic equations are used to transform the trajectory into appropriate desired values. Second, a sliding mode controller (SMC) is designed which used the desired values to control the motion of the robot. Moreover, disturbances are taken into consideration to minimize the lateral error. In order to investigate the proposed integrated algorithm, the analysis of rover traversability on the uneven surface of the moon is performed in two different states, namely by considering the motion restrictions of the rocker-bogie mechanisms and by increasing the rover speed, body yaw angle, and also obstacle height in crossing the rough terrain. Investigation of the rover in different states has given insight on the performance of the proposed controller at limits of mobility of the robot. Finally, to reduce the battery energy consumption, input torques proportional to the load on the wheels are produced. The values of the deviations from the desired path and velocity in all the mentioned analyses indicate the effectiveness of the SMC.

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Figures

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Fig. 1

Revealing generalized geometric variables

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Fig. 2

Single wheel model

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Fig. 3

Schematic of sliding mode controller

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Fig. 4

Sliding variable s versus time

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Fig. 5

(a) Test ground, (b) the real trajectory curve compared with the ideal path, (c) body longitudinal speed deviation, (d) desired path deviation, in the analysis of the effect of obstacle height, (e) rear right wheel slip ratio, and (f) normalized longitudinal force of rear right

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Fig. 6

(a) Test ground, (b) the real trajectory curve compared with the ideal path, (c) body longitudinal speed deviation, (d) desired path deviation, in the analysis of the effect of steering on obstacles, (e) rear right wheel slip ratio, and (f) normalized longitudinal force of rear right

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Fig. 7

(a) Test ground, (b) the real trajectory curve compared with the ideal path, (c) body longitudinal speed deviation, (d) desired path deviation in the analysis of the effect of robot speed, (e) rear right wheel slip ratio, and (f)normalized longitudinal force of rear right

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Fig. 8

(a) Test ground, (b) the real trajectory curve compared with the ideal path, (c) body longitudinal speed deviation, (d) desired path deviation in the analysis of the effect of preventing free rolling in wheels, (e) wheels average slip ratio, and (f) normalized longitudinal force of rear right

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Fig. 9

Energy consumption in two configurations of CNLE and NNLE

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