ANZCC 2019 Paper Abstract

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Paper TA1.8

Chiba, Sosuke (Nihon University), Uchiyama, Kenji (Nihon University), Masuda, Kai (Nihon University)

Guidance Method without Terrain Information for an Exploration Rover

Scheduled for presentation during the Regular Session "Complex and Nonlinear Systems" (TA1), Thursday, November 28, 2019, 12:00−12:15, WZ Building Room WZ416

2019 Australian & New Zealand Control Conference (ANZCC), November 27-29, 2019, Auckland, New Zealand

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Nonlinear Systems and Control, Estimation, Robotics

Abstract

This paper describes the guidance method considering the irregular land of the planetary exploration rover in an unknown environment. Some exploration methods in the environment such as many obstacles and uneven ground surfaces have been proposed. In this study, we propose a guidance method to detect and avoid the area that would be difficult to detect with an external sensor such as a camera or a radar. An observer based on Disturbance Accommodation Control (DAC) is used to detect the areas. The potential function method is applied to the avoidance of the area. Furthermore, we perform self-location estimation and map construction using EKF-SLAM in a more realistic environment. We conduct the numerical simulation and the experiment to show the effectiveness of the proposed guidance method.

 

 

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