轮间牵引不对称条件下行星巡视器的路径跟踪控制与地面力学分析
Path-Following Control and Terramechanics Analysis for Planetary Rovers Under Wheel-to-Wheel Traction Asymmetry
- Tohoku University（东北大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种仅靠减速的无模型路径跟踪控制，通过限制速度并减速外侧轮充当锚点，在不对称牵引下抑制巡视器侧漂，实验验证了其防下陷效果及地面力学机理。
AI中文摘要：
本文针对在持续牵引不对称条件下、于可变形松散地形上航行的滑移转向行星巡视器，提出了一种无模型且仅依赖减速的路径跟踪控制策略。传统的基于运动学的控制器在路径修正过程中常通过加速车轮导致滑移-下陷困陷，而所提方法通过设定最大指令速度上限来避免此失效。航向修正仅通过选择性减速位于转弯外侧的外侧车轮实现，使其进入负滑移状态，充当机械锚点。该系统在四轮独立驱动巡视器EX1上进行了评估，采用左右履刺高度不同的不对称车轮配置，该配置会引发显著的路径偏离。实验结果表明，这种仅减速控制在高达0.7 m/s的各种速度范围内成功抑制了累积侧向漂移，且未引起下陷。至关重要的是，来自车载多轴传感器的直接力测量提供了底层地面力学的关键经验证据，证明目标减速在底盘上建立了动态载荷均衡，并完全恢复了相对驱动车轮的固有推力能力。
英文摘要：
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrain under continuously imposed traction asymmetry. While conventional controllers that are based on kinematics frequently cause slip-sinkage entrapment by accelerating the wheels during path correction, the proposed approach prevents this failure by setting an upper limit on the maximum commanded velocity. Heading correction is achieved solely through the selective deceleration of the outer wheels, which are located on the outside of the turn, driving them into a negative slip regime to act as a mechanical anchor. The system was evaluated using the four-wheel independent-drive rover EX1 under an asymmetric wheel configuration with different left and right grouser heights that induces significant deviations from the path. Experimental results demonstrate that this deceleration-only control successfully suppresses accumulated lateral drift across various velocity regimes up to 0.7 m/s without causing sinkage. Crucially, direct force measurements from onboard multi-axis sensors provide important empirical evidence of the underlying terramechanics, proving that the targeted deceleration establishes dynamic load equalization across the chassis and completely restores the native thrust capability of the opposite driving wheel.
