行星漫游车行驶过程中位置和姿态偏差的实验研究与分析

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2024-04-11 DOI:10.1016/j.jterra.2024.100974
Zhicheng Jia , Jingfu Jin , Xinju Dong , Lianbin He , Meng Zou , Yingchun Qi
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引用次数: 0

摘要

减少行星漫游车在行驶过程中的位置和姿态偏差,是现阶段新型行星漫游车设计和控制器开发需要考虑的一个重要问题。这也是漫游车能否在地形复杂的行星表面执行高精度要求的探测任务的基础。系统研究行星漫游车在最基本的开环路径控制下产生的偏差问题,对于提高行星探测的有效性具有重要意义。本研究以模拟火星地形和土壤为基础,进行了行星漫游车在不同场景下的行驶实验,测试了不同路径类型、地形分布、行驶速度和转向半径下产生的位置和姿态偏差及评价指标。结合实验现象,分析了偏差产生过程中单轮与地面的作用特性及其对整车状态的影响。最后,针对如何优化行星漫游车路径控制进行了讨论和总结。这些系统的实验和分析可为从事行星漫游车移动控制器开发的研究人员提供有价值的参考。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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Experimental study and analysis of the position and attitude deviation of planetary rover during driving

Reducing the position and attitude deviation of the planetary rover while driving is an important issue that needs to be considered in the design and controller development of the new types of planetary rovers at this stage. It is also the basis for whether the rovers can carry out exploration missions with high precision requirements on the complex terrain of planetary surfaces. A systematic study of the deviation problems generated by planetary rovers under the most basic open-loop path control is of great significance to improve the effectiveness of planetary detection. In this study, based on simulated Martian terrain and soil, planetary rover driving experiments under various scenes were conducted to test the resulting position and attitude deviation and evaluation indexes under different path types, terrain distributions, driving speeds and steering radius. By combining the experimental phenomena, the action characteristics of single wheel with ground and its influence on the state of the whole vehicle during the deviation generation process are analyzed. And finally, the discussion and conclusion are directed to how to optimize the planetary rover path control. These systematic experiments and analyses can provide valuable references for researchers engaged in the development of mobile controllers for planetary rovers.

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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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