Abstract: For lunar rover running on the planar slope, A new method for trajectory tracking of lunar rover is developed based on slip ratio. This method uses the tire slip ratio and rotational angles as the control parameters, samples on the desired trajectory within finite time, and utilizes the numerical method for solution by using the wavelet interpolation method based on the dynamic equations describing motion of the lunar rover, so as to control the lunar rover to track the desired trajectory. The proposed method has many advantages such as less work, less computation demand, higher precision, as well as the desired trajectory being any more complex nonlinear curve. Numerical experiment results show the correctness and effectiveness of the proposed method.

Key words: slip ratio, Trajectory tracking, lunar rover

摘要： 针对平整坡面上行驶的月球车，研究了基于滑移率的月球车轨迹跟踪控制新方法。它是基于描述月球车运动的动力学模型方程，将左右轮滑移率及两转向前轮的失配角作为控制参数，利用小波插值方法，进行数值求解，从而实现月球车期望轨迹的跟踪控制。该方法计算量小、方法简单、精度高、且可实现任意的非线性曲线的期望轨迹追踪。数值实验验证了该方法的正确性和有效性。

关键词: 滑移率, 轨迹跟踪, 月球车