Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Abstract

Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed planetary WMRs and surveys methods for improving their mobility and traversability. The methods are categorized based on the employed approaches ranging from signal-based and model-based estimation to terramechanics-based, machine learning, and global sensing techniques. They aim to detect vehicle motion parameters (kinematic states and forces/torques), terrain hazards (slip and sinkage) and terrain parameters (soil cohesion and friction). The limitations of these methods and recommendations for future missions are stated.

Sequential Track Fusion in UKF-based Multi-Sensor Networks: A Case of Slip Estimation in Wheeled Mobile Robots

“…Detection of the slip has been addressed in several places using exteroceptive sensors (radar, Lidar, Global Positioning System (GPS), camera), proprioceptive senors (Inertial Measurement Unit (IMU), encoder, gyrometer), or a combination of them. In [1], the slip detection methods for planetary WMRs are categorized into direct signal-based [21], [22], estimation-based [23], [24], [25], [26], [27], [28], [29], terramechanic-based [30], [31], machine learning [32], [33], [34], [35], [36], and global sensing [37], [38] approaches. Most of the estimation-based approaches are sensor-level fusions using EKF or UKF techniques to provide systematic solutions.…”

“…Most of the estimation-based approaches are sensor-level fusions using EKF or UKF techniques to provide systematic solutions. To the best of our knowledge, track-level fusion of sensor agents is yet to be thoroughly investigated for improving the accuracy and consistency of slip estimations in planetary WMRs [1].…”

“…F OR more than five decades, Wheeled Mobile Robots (WMRs) have been extensively investigated for applications in planetary exploration missions [1], [2]. These robots usually operate on low traction terrains and it is critical for them to account for the dynamic effects of the wheelterrain interactions.…”

Editorial: Multi-robot systems for space applications

“…The utilization of robotic systems in space is currently enabling new mission concepts and applications for both in-orbit operations Papadopoulos et al (2021) and off-world exploration and exploitation Zarei and Chhabra (2022) . Space robots are foreseen as essential for numerous on-orbit operations (e.g., servicing, assembly, and manufacturing), and their utilization in ongoing and under-development missions seems already consolidated or, in any case, achievable in a relatively short time Flores-Abad et al (2014) .…”

Geometric Modelling and Control of Slow-Fast Realization of Nonholonomic Mechanical Systems

“…Symmetry-reduced treatments of WMR systems [72] used in conjunction with the approximations of the slip momentum may be used for state estimation and traction maintenance [165]. In space applications [166], WMR systems have a limited suite of interoceptive sensors -based on internal IMU and wheel odometry -and the approximations of the slip momenta may serve as a process model for motion estimation. The friction forces in our approach are dissipative and thus, the Poisson formulation presented is suitable for port-Hamiltonian methods and passivity-based control.…”