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Mars rover concept developmentA structured study effort to develop an extensive, innovative set of mobility and navigation concepts for a planetary exploration vehicle along with the concomitant value system and evaluation tools is presented. A further objective is to submit these concepts to a rigorous, structured evaluation process to derive the most promising candidate systems. To support the evaluation process, a three-layer computer model of the Martian surface was developed, based on the 1/64 deg Digital Elevation Model (DEM) of Mars. Local surface roughness based on measured Martian slope distribution and power spectral density was superimposed on the DEM, and rocks based on Moore's distribution model were added. To assess performance, selected concepts were modeled using DADS, and simulations were run with the vehicle traversing the Martian surface model, including one-meter-high vertical steps and one-meter-wide crevasses. The design details of three promising candidate systems are presented, along with the discussion of their evolution with some recommendations.
Document ID
19900024678
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Mctamaney, Louis S.
(FMC Corp. Santa Clara, CA, United States)
Douglas, Barry D.
(FMC Corp. Santa Clara, CA, United States)
Harmon, Scott Y.
(Robot Intelligence International San Diego, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Ground Support Systems And Facilities (Space)
Meeting Information
Meeting: Mobile Robots III
Location: Cambridge, MA
Country: United States
Start Date: November 10, 1988
End Date: November 11, 1988
Sponsors: SPIE
Accession Number
90A11733
Funding Number(s)
CONTRACT_GRANT: JPL-958074
Distribution Limits
Public
Copyright
Other

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