280 research outputs found
Path planning for reconfigurable rovers in planetary exploration
This paper introduces a path planning algorithm that
takes into consideration different locomotion modes in
a wheeled reconfigurable rover. Such algorithm, based
on Fast Marching, calculates the optimal path in terms
of power consumption between two positions, providing
the most appropriate locomotion mode to be used
at each position. Finally, the path planning algorithm is
validated on a virtual Martian scene created within the
V-REP simulation platform, where a virtual model of a
planetary rover prototype is controlled by the same software
that is used on the real one. Results of this contribution
also demonstrate how the use of two locomotion
modes, wheel-walking and normal-driving, can reduce
the power consumption for a particular area.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
Development Environment for Optimized Locomotion System of Planetary Rovers
This paper addresses the first steps that have been undergone to set up the development environement w.r.t optimization and to modelling and simulation of overall dynamics of the rover driving behaviour under all critical surface terrains, like soft and hard soils, slippage, bulldozing effect and digging in soft soil. Optimization is based on MOPS (Multi-Objective Prameter Synthesis), that is capable for handling several objective functions such as mass reduction, motor power reduction, increase of traction forces, rover stability guarantee, and more. The tool interferes with Matlab/Simulink and with Modelica/Dymola for dynamics model implementation. For modelling and simulation of the overall rover dynamics and terramechanical behaviour in all kind of soils we apply a Matlab based tool that takes advantage of the multibody dynamics tool Simpack. First results of very promising rover optimizations 6 wheels are presented that improve ExoMars rover type wheel suspension systems. Performance of driveability behaviour in different soils is presented as well. The next steps are discusses in order to achieve the planned overall development environment
Motion Dynamics of a Rover With Slip-Based Traction Model
Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, DC, May 200
Path Planning for Reconfigurable Rovers in Planetary Exploration
This paper introduces a path planning algorithm
that takes into consideration different locomotion modes in a
wheeled reconfigurable rover. Power consumption and traction
are estimated by means of simplified dynamics models for each
locomotion mode. In particular, wheel-walking and normaldriving
are modeled for a planetary rover prototype. These
models are then used to define the cost function of a path
planning algorithm based on fast marching. It calculates the
optimal path, in terms of power consumption, between two
positions, providing the most appropriate locomotion mode to
be used at each position. Finally, the path planning algorithm
was implemented in V-REP simulation software and a Martian
area was used to validate it. Results of this contribution also
demonstrate how the use of these locomotion modes would
reduce the power consumption for a particular area.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
Steering Characteristics of a Rigid Wheel for Exploration on Loose Soil
Proceedings 01 2004 IEEElRSJ International Conference on lntelllgent Robots and Systems September 28 - October 2, 2004, Sendal, Japa
Terrain-Dependent Slip Risk Prediction for Planetary Exploration Rovers
Wheel slip prediction on rough terrain is crucial for secure, long-term operations of planetary exploration rovers. Although rough, unstructured terrain hampers mobility, prediction by modeling wheel–terrain interactions remains difficult owing to unclear terrain conditions and complexities of terramechanics models. This study proposes a vision-based approach with machine learning for predicting wheel slip risk by estimating the slope from 3D information and classifying terrain types from image information. It considers the slope estimation accuracy for risk prediction under sharp increases in wheel slip due to inclined ground. Experimental results obtained with a rover testbed on several terrain types validate this method
Enabling Faster Locomotion of Planetary Rovers with a Mechanically-Hybrid Suspension
The exploration of the lunar poles and the collection of samples from the
martian surface are characterized by shorter time windows demanding increased
autonomy and speeds. Autonomous mobile robots must intrinsically cope with a
wider range of disturbances. Faster off-road navigation has been explored for
terrestrial applications but the combined effects of increased speeds and
reduced gravity fields are yet to be fully studied. In this paper, we design
and demonstrate a novel fully passive suspension design for wheeled planetary
robots, which couples a high-range passive rocker with elastic in-wheel
coil-over shock absorbers. The design was initially conceived and verified in a
reduced-gravity (1.625 m/s) simulated environment, where three different
passive suspension configurations were evaluated against a set of
challenges--climbing steep slopes and surmounting unexpected obstacles like
rocks and outcrops--and later prototyped and validated in a series of field
tests. The proposed mechanically-hybrid suspension proves to mitigate more
effectively the negative effects (high-frequency/high-amplitude vibrations and
impact loads) of faster locomotion (>1 m/s) over unstructured terrains under
varied gravity fields. This lowers the demand on navigation and control
systems, impacting the efficiency of exploration missions in the years to come.Comment: 8 pages, 13 figure
Planetary surface exploration: MESUR/autonomous lunar rover
Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included
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