Navigation and Slip Kinematics for High Performance Motion Models
Javier Hidalgo Carrió
In 12th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2013), 15.5.-17.5.2013, Noordwijk, o.A., May/2013.
When absolute positioning systems are not available, kinematics modeling and rover chassis analyses play a dominant role in rover localization. It is the goal of this manuscript to describe and analyze a complete kinematic model which captures the six DoF pose (position and orientation) while traversing uneven terrains for hybrid systems and independently actuated wheels. The model is analyzed in order to correctly propagate rover pose as input for a pose estimator in localization towards efficient dead reckoning processes. Testing results are discussed for Asguard, a leg-wheel scout rover with a simple actuation system with enhanced maneuver capabilities.
robot motion, wheel odometry, rover kinematics, dead reckoning and planetary rovers