Ground mobility systems for planetary exploration (original) (raw)
A Review on Travelling Performance of Planetary Rovers
In designing a planetary rover, it is necessary to evaluate the effect of model size parameters such as weight, diameter/width and grousers of a wheel on its travelling performance. This paper presents an overview of these size parameters and their effect on the travelling performance, concluded from the works of various researchers. This travelling performance depends on the wheel mechanism/track mechanism with no effect from change in rover weight, for tracked mechanism. However, for the wheeled mechanism the travelling performance decreases as the rover weight increases. The wheel diameter rather than wheel width, improves travelling performance. The provision of lugs improves travelling performance. The paper describes the system parameters required and how they are evaluated. The salient observations and inferences on the research carried out by various researchers pertaining to the travelling performance of planetary rovers are also outlined.
An Enhanced Prototype of Rover for Space Exploration
Advances in Astronautics Science and Technology, 2020
Rovers, ultimate automobile for the investigation of the nearby planetary group, are capable of assisting researchers in their exploration as well as the breakdown of the formation of Mars. In this research, we are proposing a model of wanderer which is fit for self-adjusting to various landscapes along with environments with the end goal of fruitful investigation. In addition, it is designed to make a trip to various zones, gather earth samples, measure pH, compute weight, screen different states of weather such as warmth, dampness and wind velocity, sense the formation of toxic gas, and not to mention conduct rescue mission. Notably, the wheels are constructed using buoyant substances like polyvinyl chloride (PVC). Moreover, a unique suspension framework is designed on the basis of the modified rocker-bogie system to make the wanderer adaptive to the uneven surface of Mars. Besides, a global positioning system (GPS) is incorporated with the vehicle so that its movement can be tracked and the prototype can roam autonomously. In other words, the rover is capable of conducting self-sustained exploration even if the condition is inhospitable. Another key point is that the proposed prototype is more cost-effective than the existing ones which have already been reported in the literature. As a result, the suggested model may have a decent potential not only in space exploration but also in the quest of life on Mars.
Taxonomy, Systems Review and Performance Metrics of Planetary Exploration Rovers
13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), 2014
— 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.
Study of Mobility Performance Parameters of Planetary Rovers-A Review
International Journal of Engineering Science, Advanced Computing and Bio-Technology, 2018
Researchers carried out works on evaluation of mobility performance of planetary rovers, which helps to solve and overcome the current existing problems on a loose soil/sloppy terrain. Problems which arise on planetary surfaces are-surface unevenness, obstacles (stones, rivers, boulders etc.), environmental risk (wind, humidity, dust, air, snow etc.), sloping and climbing conditions etc. To optimize and give better performance, it is necessary to study the trafficability, maneuverability and terrainability characteristics related to good performance conditions of the wheeled rover/tracked rover on planetary surfaces before going for its design. The aim of this paper is to bring out the significance of mobility performance parameters of planetary rover on travelling performance. Trafficability has the most significant effect on its traveling performance of planetary rover. Hence, it is needed to conduct major studies on trafficability-how it affects, how it varies, and how it improves, the travelling performance from its parameters behavior. This paper mainly focuses on, and brings out an overview on study of mobility performance parameters of planetary rovers that travels on flat terrain/sloppy terrain. The observations and inferences from the various works carried by researchers on performance indices are also outlined in this paper. Experimental results for compaction resistance and rolling resistance are also presented and influence on its mobility is briefly explained.
A conceptual walking vehicle for planetary exploration
Mechatronics, 1997
A lightweight, small size walking robot currently being developed at the Université Libre de Bruxelles as a conceptual vehicle for planetary exploration is described. The robot consists of three articulated bodies connected by universal joints. Each body has two legs with two degrees of freedom each. Each universal joint is provided with two actuators and torque sensors; a compliant behaviour is achieved by force feedback. This particular device improves considerably the agility of the walking vehicle by allowing the central body to follow the ground profile. Furthermore, the vehicle can walk on both sides and can recover from roll-over thanks to the actuated universal joints which allow an autonomous transfer from back to belly.
Robotic vehicles for planetary exploration
Applied Intelligence, 1992
Future missions to the moon, Mars, or other planetary surfaces will use planetary rovers for exploration or other tasks. Operation of these rovers as unmanned robotic vehicles with some form of remote or semi-autonomous control is desirable to reduce the cost and increase the capability and safety of many types of missions. However, the long time delays and relatively low bandwidths associated with radio communications between planets precludes a total “telepresence” approach to controlling the vehicle. A program to develop planetary rover technology has been initiated at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration (NASA). Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed and initial testing has been completed. These testbed systems, the associated navigation techniques currently used and planned for implementation, and long-term mission strategies employing them are described.
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype
Springer Tracts in Advanced Robotics, 2010
Scarab is a prototype rover for lunar missions to survey resources, particularly water ice, in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments. Its chassis can transform to stabilize its drill in contact with the ground and can also adjust posture to ascend and descent steep slopes. Scarab has undergone field testing at lunar analogue sites in Washington and Hawaii in an effort to quantify and validate its mobility and navigation capabilities. We report on results of experiments in slope ascent and descent and in autonomous kilometer-distance navigation in darkness.
Autonomous Robots - AROBOTS, 2003
We overview our recent research on planetary mobility. Products of this effort include the Field Integrated Design & Operations rover (FIDO), Sample Return Rover (SRR), reconfigurable rover units that function as an All Terrain Explorer (ATE), and a multi-Robot Work Crew of closely cooperating rovers (RWC). FIDO rover is an advanced technology prototype; its design and field testing support NASA's development of long range, in situ Mars surface science missions. Complementing this, SRR implements autonomous visual recognition, navigation, rendezvous, and manipulation functions enabling small object pick-up, handling, and precision terminal docking to a Mars ascent vehicle for future Mars Sample Return. ATE implements on-board reconfiguration of rover geometry and control for adaptive response to adverse and changing terrain, e.g., traversal of steep, sandy slopes. RWC implements coordinated control of two rovers under closed loop kinematics and force constraints, e.g., transpor...
3D Simulation and Validation of RCL-E and MER Rover Types Mobility
2006
Within the ESA Aurora programme for planetary exploration, powerful rovers (primarily the ExoMars rover for Mars exploration) with different capabilities will be developed. Since mobility has to be guaranteed for these rovers in rough and unknown terrain with almost fully autonomous motion planning, they need extensive all-terrain locomotion capabilities. In order to achieve a successful mission and to enhance the overall rover mobility performance, efficient modelling and simulation tools are required that predominantly cope with the wheel-soil interaction and which regard the overall rover-chassis set-up based on a multibody system (MBS) approach including all the various kinematic suspension and wheel mobility concepts for different rover types. In the field of terramechanics the interaction of a vehicle’s wheels on soft soil is investigated. Within the approach of multibody simulation of off-road vehicles the terramechanical wheel-soil module is integrated into the vehicle MBS m...