Research on precise driving control of rover based on adaptive fuzzy controller

China's Zhurong rover successfully reached the Mars surface and began its exploration on May 22nd, 2021. As of June 15, the cumulative driving distance exceeded 100m. The rover will slop when it is driving on the Martian surface, which will affect the accuracy of scientific detection. In view of this phenomenon, an adaptive fuzzy control method based on slip compensation is proposed. The kinematics equation of the Zhurong rover in the process of curvature driving is established, and an adaptive fuzzy controller is designed to compensate the steering radius and driving time of the wheels in the slip process. The simulation results show that the method based on adaptive fuzzy control can compensate the deviation of the rover on the Mars surface. It effectively tracks the ground planning trajectory and has better tracking and security. Finally, the effectiveness of the controller is verified by on-orbit application.