Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration
Bibliographic record
Abstract
To reliably localize and control wheeled autonomous rovers, their controllers must keep the wheels away from traction loss. In this paper, we develop a fast and practical traction control system for rovers that track dynamic trajectories on rough firm terrains, leveraging their normally existing redundant control directions. Trajectory-tracking performance is guaranteed by input-output linearizing a nonholonomic model of the system and employing an appropriate stabilizing control law. We propose a novel methodology to optimally lift the control signals at the rover’s output level to determine the control actions that enhance the system’s traction without affecting the tracking performance. The methodology uses the knowledge of wheels’ friction coefficients and estimation of normal and tractive forces based on a nonholonomic rover model to optimally distribute the tractive forces among the wheels. The novelty is in redefining the optimization problem in both lateral and longitudinal directions that require minimum information about wheel-ground interactions and leads to linear optimality conditions. We define the notion of total required force/moment at system’s center of mass to (i) introduce reference directions for tractive forces in the proposed cost functions, and (ii) identify the rover wheels fighting against the motion. To prevent wheel-fighting, we find sub-optimal solutions that suppress tractive forces at the fighting wheels. The proposed traction control system is implemented on a six-wheel autonomous Lunar rover and its efficacy is investigated by a developed software-in-the-loop simulation environment using Vortex Studio. This software simulates a 3-dimensional digital twin of the system, with different terrain and tire model options. When compared to the conventional pseudo-inverse solution, the developed traction controller demonstrates improved overall traction and it saves the rover from traction loss.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".