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Rover Slip Validation and Prediction AlgorithmA physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.
Document ID
20090041774
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other - NASA Tech Brief
Authors
Yen, Jeng
(California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
December 1, 2009
Publication Information
Publication: NASA Tech Briefs, December 2009
Subject Category
Man/System Technology And Life Support
Report/Patent Number
NPO-45240
Distribution Limits
Public
Copyright
Public Use Permitted.
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