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Slope Descent using Plowing to Minimize Slip for Planetary Rovers
Author(s) -
Loret de Mola Lemus Daniel,
Kohanbash David,
Moreland Scott,
Wettergreen David
Publication year - 2014
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21518
Subject(s) - slip (aerodynamics) , descent (aeronautics) , gradient descent , plough , geodesy , tine , method of steepest descent , geology , control theory (sociology) , computer science , engineering , aerospace engineering , artificial intelligence , structural engineering , mathematics , geography , control (management) , mathematical analysis , archaeology , artificial neural network
Steep slopes of unconsolidated material at planetary destinations of recent interest, such as craters and skylights, defy descent by rovers due to uncontrolled slip. This work proposes a novel method based on braking by plowing to arrest slip during descent maneuvers on planetary terrains. The method covers two fundamental maneuvers: direct descent and point‐turning. For direct descent, an automatic control system estimates slip through visual odometry and actuates a plow accordingly. For point‐turning, the plow is engaged as a point of rotation. Experimental results showed that the slip control system for direct descent kept slip within ±5% for slopes as steep as 31° and for different commanded driving speeds. In the point‐turning tests, downhill displacement was less than 0.08 m on inclinations up to 30°. Thus, a plowing policy was developed that allows precise descent on extreme slopes by minimizing slip. As a result, this work expands current rover mobility and control capabilities.