Efficient and Adaptive Autonomous Guidance and Control of Planetary Rover with Improved Traction Controller and Dynamic Cost Map

Efficient and Adaptive Autonomous Guidance and Control of Planetary Rover with Improved Traction Controller and Dynamic Cost Map | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL Journal of Field Robotics This is a preprint and has not been peer reviewed. Data may be preliminary. 20 January 2025 V1 Latest version Share on Efficient and Adaptive Autonomous Guidance and Control of Planetary Rover with Improved Traction Controller and Dynamic Cost Map Authors : Alessio De Luca 0000-0002-2854-6000 [email protected] , Luca Muratore 0000-0002-1265-3370 , Nikos Tsagarakis , and Martin Azkarate 0000-0003-3284-5422 Authors Info & Affiliations https://doi.org/10.22541/au.173736202.26989883/v1 Published Journal of Field Robotics Version of record Peer review timeline 394 views 213 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract Planetary exploration is rapidly gaining importance within the space research community. Autonomous locomotion of rovers requires consideration of several mobility aspects to ensure safety, including avoiding hazardous areas that can cause the robot to become immobilized in soft soil or damaged in sharp terrains. Furthermore, when executing autonomous guidance, selecting an appropriate path to follow is crucial to reduce energy consumption and improve the overall distance traveled by the rover. This directly impacts the rover’s performance and the possible scientific outcome of the mission. This paper addresses the optimization of the autonomous locomotion of Mars rovers by acting on the guidance and control layers. Firstly, an enhanced velocity-based traction controller is proposed, permitting omnidirectional motion while simultaneously addressing slip and kinematic incompatibilities. The controller acts directly at the wheel command level to further improve traction and tracking performances, reducing position and heading errors. The performance metrics evaluated within the traction controller are then used to dynamically update the cost map of the environment. Finally, a higher-level path planner is integrated considering kino-dynamic constraints, continuously providing new paths according to the map updates. The proposed framework has been validated through simulation and real-world experiments on the MaRTA rover of ESA’s Planetary Robotics Laboratory. The results demonstrated that the proposed controller achieves better traction and tracking performance, further improved by the dynamic cost map updates. Supplementary Material File (deluca_etal_tractioncontrol.pdf) Download 14.76 MB Information & Authors Information Version history V1 Version 1 20 January 2025 Peer review timeline Published Journal of Field Robotics Version of Record 26 Jan 2026 Published Copyright This work is licensed under a Non Exclusive No Reuse License. Collection Journal of Field Robotics Keywords autonomous robot field robotics path planning of mobile robot slip control space robotics Authors Affiliations Alessio De Luca 0000-0002-2854-6000 [email protected] Istituto Italiano di Tecnologia View all articles by this author Luca Muratore 0000-0002-1265-3370 Istituto Italiano di Tecnologia View all articles by this author Nikos Tsagarakis Istituto Italiano di Tecnologia View all articles by this author Martin Azkarate 0000-0003-3284-5422 European Space Research and Technology Centre View all articles by this author Metrics & Citations Metrics Article Usage 394 views 213 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Alessio De Luca, Luca Muratore, Nikos Tsagarakis, et al. Efficient and Adaptive Autonomous Guidance and Control of Planetary Rover with Improved Traction Controller and Dynamic Cost Map. Authorea . 20 January 2025. DOI: https://doi.org/10.22541/au.173736202.26989883/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu . Format Please select one from the list RIS (ProCite, Reference Manager) EndNote BibTex Medlars RefWorks Direct import Tips for downloading citations document.getElementById('citMgrHelpLink').addEventListener('click', function() { popupHelp(this.href); return false; }); $(".js__slcInclude").on("change", function(e){ if ($(this).val() == 'refworks') $('#direct').prop("checked", false); $('#direct').prop("disabled", ($(this).val() == 'refworks')); }); View Options View options PDF View PDF Figures Tables Media Share Share Share article link Copy Link Copied! Copying failed. 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