Online estimation of wheel-ground contact angle and slip for a six-wheeled lunar rover

Wheel-ground contact angle and wheel slip estimation of a skid-steered mobile robot is challenging because of the complex wheel/ground interactions and kinematics constraints. Real time estimation of these parameters is essential in achieving precise, robust autonomous guidance and control of the mobile robot. In this paper, we present a discrete KF-based on wheel-ground contact angle and wheel slip estimation scheme for a skid-steered lunar rover by combining drive and guidance system to form a closed control system, in which an observer will work out the slip values and wheel-terrain contact angle by using the measured datum of passed route of lunar rover’s mass center. This method ensures more accurate and safety movement and increase driving control quality.