Motion Sensing Study on a Mobile Robot Through Simulation Model and Experimental Tests

Abstract

The employment of mobile robots, remotely or autonomously controlled for field operations, is an emerging topic. The development of suitable simulation models can aid the design and testing of such mobile robots. Here a small commercial prototype of a Rocker-Bogie Rover has been employed in experimental tests compared to simulations on a multibody model. In particular, the tests have dealt with the acquisition and processing of accelerometer signals both on experimental prototype and in simulation environment. The paper proposes a real time signal processing approach that could aid the motion planning and rover navigation control.