Article | Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018 | Model predictive allocation control for leg-wheel mobile robot on loose soil considering wheel dynamics Linköping University Electronic Press Conference Proceedings
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Title:
Model predictive allocation control for leg-wheel mobile robot on loose soil considering wheel dynamics
Author:
Takatsugu Oda: Mechanical systems engineering, Tokyo city university, Japan Hiroki Yoshikawa: Mechanical systems engineering, Tokyo city university, Japan Naoki Shibata: Mechanical systems engineering, Tokyo city university, Japan Kenichiro Nonaka: Mechanical systems engineering, Tokyo city university, Japan Kazuma Sekiguchi: Mechanical systems engineering, Tokyo city university, Japan
DOI:
10.3384/ecp18148240
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018
Issue:
148
Article no.:
033
Pages:
240-244
No. of pages:
5
Publication type:
Abstract and Fulltext
Published:
2019-02-21
ISBN:
978-91-7685-266-8
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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For the planetary exploration rover, to cope with the layer of heterogeneous superficial deposits called regolith is important so as to achieve designed traction. In order to consider effects of wheel motion, model predictive allocation control is proposed. To cope with complex terramechanics in MPC (model predictive control), the identification technique is introduced; the proposed MPC is formed as a linear optimization problem. The rover model and terramechanics are described using model-ica and simulate to evaluate the performance of the proposed method. The suppressed of superfluous slip and enhancement of traction performance is numerically shown.

Keywords: Terramechanics, Allocation control, Model predictive control, Model identification.

Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018

Author:
Takatsugu Oda, Hiroki Yoshikawa, Naoki Shibata, Kenichiro Nonaka, Kazuma Sekiguchi
Title:
Model predictive allocation control for leg-wheel mobile robot on loose soil considering wheel dynamics
DOI:
http://dx.doi.org/10.3384/ecp18148240
References:

Karl Iagnemma and Steven Dubowsky. Traction control of wheeled robotic vehicles in rough terrain with application to planetary rovers. The international Journal of robotics research, 23(10-11):1029–1040, 2004.

Genya Ishigami, Akiko Miwa, Keiji Nagatani, and Kazuya Yoshida. Terramechanics-based model for steering maneu-ver of planetary exploration rovers on loose soil. Journal of Field robotics, 24(3):233–250, 2007.

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CRWeisbin, D Lavery, and G Rodriguez. Robotics technology for planetary missions into the 21st century. 1997.

Kazuya Yoshida and Hiroshi Hamano. Motion dynamics and control of a planetary rover with slip-based traction model. In Unmanned Ground Vehicle Technology IV, volume 4715, pages 275–287. International Society for Optics and Photonics, 2002.

Hiroki Yoshikawa, Takatsugu Oda, Kenichiro Nonaka, and Kazuma Sekiguchi. Modeling and simulation of wheel driving systems based on terramechanics for planetary explanation rover using modelica. In Proceedings of the 12th International Modelica Conference, number 132, pages 901–907. Linköping University Electronic Press, 2017.

Li Zhengcai and Wang Yang. Robust adaptive fuzzy control for planetary rovers while climbing up deformable slopes with longitudinal slip. Advances in Aerospace Engineering, 2014, 2014.

Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018

Author:
Takatsugu Oda, Hiroki Yoshikawa, Naoki Shibata, Kenichiro Nonaka, Kazuma Sekiguchi
Title:
Model predictive allocation control for leg-wheel mobile robot on loose soil considering wheel dynamics
DOI:
https://doi.org10.3384/ecp18148240
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