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Vehicle Kinematics and Position estimation |
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Written by Chin Fung Lai
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Sunday, 30 January 2005 |
| Vehicle Kinematics |
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Wheel sinkage measurment on deformable terrain
by FSRL |
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Vehicle kinematics is studied in order to compute the wheel rotation
needed to achieve the desired movement and the steering angle of the rover.
The computation for a rover is very complex because it is travelling on
a deformable terrain. Due to these varying conditions, the wheel sinkage
is being studied. Algorithms and models are developed to understand and
predict the wheel motion. Data are collected from each wheel and joint
of the rover, they are then processed to compute the require motion of
the wheel to effect in real movement. Further this is used to work out
the motion of the centre of the rover. These computations result in accurate
control over the rover motion. |
Position estimation
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An example of an inertial sensor designed by
Honeywell |
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Although the rover can find out its exact position and heading using the
sun sensors, a fast estimation of these information are important. Currently
these involve using inertial sensors as well as wheel motion.
Inertial sensors are chosen because of its properties, for example it can
keep accurate track on rapid moving object, giving a good estimation of
heading. This is done by integrating the data from angular rate sensors. |
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Last Updated ( Saturday, 09 July 2005 )
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