Title :
Kinematic observers for articulated rovers
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A state estimator design is presented for a Mars rover prototype. Odometry estimates are obtained by utilizing the fall kinematics of the vehicle including the nonlinear internal kinematics of the rover rocker-bogey mechanism as well as the contact kinematics between the wheels and the ground. Additional sensing using gyroscopes, accelerometers and visual sensors allows for robust rover motion state estimation. Simulation as well as experimental results are presented to illustrate the estimator operation
Keywords :
accelerometers; distance measurement; gyroscopes; image sensors; mobile robots; observers; planetary rovers; robot kinematics; Mars rover prototype; accelerometers; articulated rovers; contact kinematics; fall kinematics; kinematic observers; nonlinear internal kinematics; odometry estimates; rover rocker-bogey mechanism; visual sensors; Accelerometers; Gyroscopes; Kinematics; Land vehicles; Mars; Observers; Prototypes; Road vehicles; State estimation; Wheels;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846419
