Predictable mobility
Name
Iagnemma_Predictable Mobility.pdf
Size
1.33 MB
Format
Adobe PDF
Checksum (MD5)
9f4607a2e3a172852361f8b1f92fef63
Author(s)
Ishigami, Genya
Kewlani, Gaurav
Iagnemma, Karl
Date Issued
December 2009
Journal
IEEE Robotics & Automation Magazine
Publisher
Institute of Electrical and Electronics Engineers
Citation
Ishigami, G., G. Kewlani, and K. Iagnemma. “Predictable mobility.” Robotics & Automation Magazine, IEEE 16.4 (2009): 61-70. ©2009 IEEE.
Version
Final published version
Abstract
In this article, a statistical mobility prediction for planetary surface exploration rovers has been described. This method explicitly considers uncertainty of the terrain physical parameters via SRSM and employs models of both vehicle dynamics and wheel-terrain interaction mechanics. The simulation results of mobility prediction using three different techniques, SMC, LHSMC, and SRSM, confirms that SRSM significantly improves the computational efficiency compared with those conventional methods. The usefulness and validity of the proposed method has been confirmed through experimental studies of the slope traversal scenario in two different terrains. The results show that the predicted motion path with confidence ellipses can be used as a probabilistic reachability metric of the rover position. Also, for the slope-traversal case, terrain parameter uncertainty has a larger influence on the lateral motion of the rover than on longitudinal motion. Future directions of this study will apply the proposed technique to the path-planning problem. Here, confidence ellipses will be used to define collision-free areas, which will provide useful criteria for generating safe trajectories.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/MRA.2009.934823
