Journal of Astronautics ›› 2016, Vol. 37 ›› Issue (11): 1356-1364.doi: 10.3873/j.issn.1000-1328.2016.11.010

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Wheel Trace Imprint Image Frequency Domain Analysis and Rover Wheel Slip Ratio Estimation

LI Nan, GAO Hai bo, LV Feng tian, DING Liang, LIU Zhen, YU Hai tao, DENG Zong quan   

  1. State Key Laboratory for Robotics and System, Harbin Institute of Technology, Harbin 150001, China
  • Received:2016-03-09 Revised:2016-04-11 Online:2016-11-15 Published:2016-11-25


The wheel slippage affects the rover mobility and localization accuracy in lunar terrains. In view of the rover slip ratio detection problem, this paper suggests a method for estimating the rover vehicle wheel slip ratio by detecting trace imprint image frequency feature. The defuse analysis model of trace imprint is built by analyzing the wheel-terrain-interaction process and trace imprint formation mechanism. The slip ratio estimation model based on the imprint image fundamental frequency characteristics is built by the defuse analysis model of trace imprint and the frequency domain analysis of trace imprint image. Further, the trace imprint image process and frequency domain feature extraction process for this method are also proposed. The slip ratio can be measured without contact only by detecting the fundamental frequency of the trace imprint image precisely. The test results show that the relative accuracy of the wheel slip ratio is 3% by using this method.

Key words: Slip ratio, Wheel trace imprint, Frequency analysis, Rover, Image detection

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