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Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization.

Cagri Kilic1, Nicholas Ohi1, Yu Gu1

  • 1Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506 USA.

IEEE Robotics and Automation Letters
|May 10, 2021
PubMed
Summary
This summary is machine-generated.

Planetary rovers can improve localization accuracy using the zero-velocity update (ZUPT) algorithm. This study introduces a method to autonomously decide when to stop, enhancing wheel-inertial odometry (WIO) performance on varied terrains.

Keywords:
LocalizationPlanetary RoversSpace Robotics and AutomationZero Velocity Update

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Area of Science:

  • Robotics
  • Navigation Systems
  • Planetary Exploration

Background:

  • Inertial Navigation Systems (INS) require state information for reliability, often enhanced by zero-velocity updates (ZUPT) during stationary periods.
  • ZUPT and non-holonomic constraints improve wheeled mobile robot dead-reckoning localization accuracy.
  • Optimizing ZUPT application frequency is crucial for balancing localization accuracy and traversal speed in planetary rovers.

Purpose of the Study:

  • To investigate autonomous stop initiation for improving wheel-inertial odometry (WIO) localization performance with ZUPT.
  • To develop a predictive method for determining optimal stopping times without altering rover hardware or operations.

Main Methods:

  • Proposed a 3D dead-reckoning approach incorporating wheel slippage prediction.
  • Integrated a system to forecast opportune moments for autonomous stops.
  • Validated the approach through field tests on diverse terrain types.

Main Results:

  • Achieved approximately 97% 3D localization accuracy over 650 m drives on rough terrain.
  • Demonstrated the viability of the autonomous stopping strategy across different terrains.
  • Showcased the system's ability to predict slippage and determine optimal stop times.

Conclusions:

  • The developed approach effectively enhances WIO localization accuracy for planetary rovers.
  • Autonomous stop initiation based on predicted slippage is a viable strategy for improving navigation.
  • The method offers a practical solution for enhancing rover localization without hardware modifications.