Dynamic Simulation Tool Development for Planetary Rovers
نویسندگان
چکیده
منابع مشابه
Dynamic Simulation Tool Development for Planetary Rovers
A dynamic computer simulator was developed to study planetary rover mobility. The simulator was validated for step-obstacle negotiation by comparing simulation results with a quasi-static analysis of a rockerbogie suspension. In addition, sample rover wheels were constructed and experiments were carried out on a single-wheel testbed to help validate the simulator. It is concluded that to fully ...
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Fault detection, isolation and recovery is crucial in semiand fully-autonomous vehicles, particularly such vehicles as planetary rovers, which are far-removed from assistance, human or otherwise, in the event of a fault. Residual generation is a popular and conceptually simple method of model-based fault detection, comparing estimates of system properties with other estimates or measurements of...
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There has been considerable work in AI on planning under uncertainty. But this work generally assumes an extremely simple model of action that does not consider continuous time and resources. These assumptions are not reasonable for a Mars rover, which must cope with uncertainty about the duration of tasks, the power required, the data storage necessary, along with its position and orientation....
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We have previously built a small IKg ([Angle 89] and [Brooks 89]) six legged walking robot named Genghis. It was remarkably successful as a testbed to develop walking and learning algorithms. It encouraged us to build a more fully engineered robot with higher performance. We are building two copies of the robot, both 1.6Kg in mass. Their generic name is Attila. Attila has 24 actuators and over ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2008
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5609