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Experiments with a small behaviour controlled planetary roverA series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.
Document ID
19940018954
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Miller, David P.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Desai, Rajiv S.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Gat, Erann
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Ivlev, Robert
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Loch, John
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publication: CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles
Subject Category
Mechanical Engineering
Accession Number
94N23427
Distribution Limits
Public
Copyright
Other

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