DocumentCode
2058630
Title
Kinematic observers for articulated rovers
Author
Balaram, J.
Author_Institution
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
2597
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846419
Filename
846419
Link To Document