Abstract-A taxonomy of planetary exploration rovers is presented, followed by a review of systems used in missions and in an experimental phase. The baseline design emerges as four or six wheels, rocker-bogie based passive suspension and all wheel driving / selected wheel steering. A trend is also apparent in the use of wheel -legged hybrid locomotion. The performance metrics are presented by which the differing configurations of the locomotion subsystem for wheeled rovers with a passive suspension may be systematically evaluated. The taxonomy and aggregated metrics presented in this paper aid in the comparison and selection of rover characteristics, while the baseline design is a representative example of current practices and future trends.
Abstract-Extending the navigational capability of planetary rovers is essential for increasing the scientific outputs from such exploratory missions. In this paper a navigation method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required control inputs to achieve a desired, specified response. Here this is a desired trajectory defined as a series of waypoints. Inverse Simulation considers the complete system dynamics of the rover to calculate the control input using an iterative, numerical Newton -Raphson scheme. The paper provides an insight into the numerical parameters that affect the performance of the method. Also, the influence of varying the timestep and the convergence tolerance is examined in terms of the quality of the calculated control input and the resulting trajectory, as well as the execution time. From this analysis a set of parameters and recommendations to successfully apply Inverse Simulation to a rover is presented.
This work presents the methods used and initial findings of the control of the model for an autonomous trenchless drilling device, with bioinspired worm-like locomotion. The model is validated using Inverse Simulation. The initial control is detailed with data from the simulation and experimental device.
A control method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required inputs to achieve a desired, specified response; a trajectory in this case. Inverse Simulation considers the complete system dynamics to calculate the control input using an iterative, numerical Newton -Raphson scheme. Two methods for applying Inverse Simulation are presented, one based on a Differentiation scheme and one on Integration. The paper provides an insight into how the scheme formulation and selected parameters affect both methods' performance when applied to a rover. The selection of system outputs to control, their effect on each scheme's Jacobian, whether it is square or over-determined and the best method to factorize this Jacobian are investigated. The influence of the discretisation step and the convergence tolerance is also examined using two different sets for both schemes and in conjunction with the type of Jacobian used. The comparison is made in terms of the resulting trajectory, the execution time, and the quality of the calculated control input.
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