PATH TRACKING, OBSTACLE AVOIDANCE AND DEAD RECKONING BY AN AUTONOMOUS PLANETARY ROVER
D.N. Green, Jurek Z. Sąsiadek · International Journal of Heavy Vehicle Systems · 2014
This paper presents a set of algorithms for piloting an autonomous planetary rover along a planned path, performing real–time obstacle avoidance and improving a dead reckoning capability. Path tracking is accomplished using linear regulation (feedback) of position and orientation errors, measured with respect to the planned path trajectory. Obstacle avoidance is performed through the application of the concept of an artificial potential field to data that can be acquired using a scanning rangefinder. Dead reckoning is improved by the algorithmic filtering and fusing of odometry and inertial navigation data streams. Computer simulation is used to illustrate the path–tracking and obstacle–avoidance capabilities, and experimental data is used to show how sensor fusion mitigates the effects of wheel–slippage and integration–error in dead reckoning.