Guidance and control of autonomous planetary rover

摘要

This paper presents a control system for guidance and navigation of a mobile planetary rover. The control system is composed of three subsystems. The path tracking is accomplished using the LQR algorithm. The position and orientation errors are feedback using optimal gains. the disturbances are feedforward to improve the transient responses of the rover. Position and orientation errors are measured using odometry and inertial navigation system (INS). The collision avoidance is performed using the artificial potnetial field method. The data for that control loop is acquired using a scanning rangefinder. Dead reckoning is improved by using filtering and fusing signals from INS and odometry. Extensive simulation reults and partial experiemtnal results have been shown.