Analysis and optimization of obstacle clearance of articulated rovers

  • Authors:

  • Faíz Ben Amar;Pierre Jarrault;Philippe Bidaud;Christophe Grand

  • Affiliations:

  • ISIR - Institut des Systèmes Intelligents et Robotiques Université Pierre et Marie Curie Paris, CNRS UMR, place Jussieu, Paris Cedex, France;ISIR - Institut des Systèmes Intelligents et Robotiques Université Pierre et Marie Curie Paris, CNRS UMR, place Jussieu, Paris Cedex, France;ISIR - Institut des Systèmes Intelligents et Robotiques Université Pierre et Marie Curie Paris, CNRS UMR, place Jussieu, Paris Cedex, France;ISIR - Institut des Systèmes Intelligents et Robotiques Université Pierre et Marie Curie Paris, CNRS UMR, place Jussieu, Paris Cedex, France

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

The paper develops a method for analyzing and improving by control obstacle clearance capacities of articulated multi-wheeled rovers. On uneven ground surface, load and traction force distributions through the wheel/ground contact system are highly coupled. They are both conditioned by the global equilibrium of the mechanical system and the contact stability constraints. The optimal traction force distribution problem is formulated here as a convex optimization problem using Linear Matrix Inequalities (LMIs). Velocity and force transmissions in articulated multi-wheeled mobile robots are introduced under a generic form decomposed in task, joint and contact levels. A tyre-model is used for the evaluation of the robustness of the solution with respect to slippage phenomena. Simulation results show that the traction distribution forces which is so determined lead to a significant increase in obstacle clearance capacities compared to an usual velocity control technique.