吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (02): 503-0508.

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Path following control for sixwheel lunar rover based on fuzzy logic

GE Ping-Shu1, WANG Rong-Ben1, GUO Lie2   

  1. 1.College of Transportation, Jilin University, Changchun 130022, China|2.School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China
  • Received:2010-03-24 Published:2011-03-01

Abstract:

A sixwheel differentially steering lunar rover prototype named JLUIV6 was taken as the research object, deduced velocity kinematics model of the lunar rover in 3D environment, and then obtained its inverse kinematics model. In the path following level, considering the path curvature and the degree of rugged terrain, the fuzzy controller and a fuzzy amendment module were established to control the linear velocity and angular velocity of rover body. In the implementation level, according to the speed and angular velocity of rover body, the speed command was given to each wheel with the inverse kinematics. Finally, the effectiveness of the proposed method is confirmed by co-simulation with ADAMS and Matlab/Simulink.

Key words: automatic control technology , lunar rover, path following, fuzzy controller, co-simulation

CLC Number: 

  • TP242.6
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