Control strategies for planetary rover motion and manipulator controlAn unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.
Document ID
19740056756
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Trautwein, W. (Lockheed Missiles and Space Co., Inc. Huntsville, Ala., United States)