An online optimization escape entrapment strategy for planetary rovers based on Bayesian optimization
Junlong Guo,
Yakuan Li,
Bo Huang
et al.
Abstract:Planetary rovers may become stuck due to the soft terrain on Mars and other planetary surface. The escape entrapment control strategy is of great significance for planetary rover traversing loosely consolidated granular terrain. After analyzing the performance of the published quadrupedal rotary sequence gait, a “sweeping‐spinning” gait was proposed to improve escape entrapment capability. And the forward distance of planetary rovers with “sweeping‐spinning” gait was modeled as a function of six control parame… Show more
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