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Slip Validation and Prediction for Mars Exploration RoversThis paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.
Document ID
20090028741
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Yen, Jeng
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
November 26, 2007
Subject Category
Space Transportation And Safety
Meeting Information
Meeting: 2nd International Conference on Sensing Technology
Location: Palmerston North
Country: New Zealand
Start Date: November 26, 2007
End Date: November 28, 2007
Distribution Limits
Public
Copyright
Other
Keywords
Mars Rovers
MER
configuration kinematics
multi-body simulation
autonomous navigation

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