Abstract
A research test-bed for planetary exploration rovers, named “Proto-Explorer,” is developed at Tohoku University. The test-bed has 6 wheels (4 actives, 2 passives) mounted on 3 articulated bodies. This paper presents the mechanism design, kinematic model of the rover test-bed and its initial experiments for navigation data acquisition. Based on dead-reckoning measurement using 2 passive wheels, slippage of active wheels are estimated, and a control architecture for minimum slip is proposed.
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© 1998 Springer-Verlag London Limited
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Shiwa, T., Yoshida, K. (1998). Navigation Data Acquisition with an Experimental Test-Bed of Planetary Exploration Rover. In: Zelinsky, A. (eds) Field and Service Robotics. Springer, London. https://doi.org/10.1007/978-1-4471-1273-0_18
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DOI: https://doi.org/10.1007/978-1-4471-1273-0_18
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1275-4
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