Slope Descent using Plowing to Minimize Slip for Planetary Rovers
نویسندگان
چکیده
Daniel Loret de Mola Lemus∗ Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected] David Kohanbash Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected] Scott Moreland† Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected] David Wettergreen Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected]
منابع مشابه
Rover Configuration for Exploring Lunar Craters
Configuration of locomotion for planetary rovers is motivated by increased interest in exploring lunar polar craters. Current rover designs cannot achieve the ascent or descent required by steep, unconsolidated lunar slopes. New designs must provide locomotive capability for steep climbing, techniques for controlling slip, and safely navigating down and along steep slopes. We propose a locomoti...
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Planetary rovers are increasingly challenged to negotiate extreme terrain. Early destinations have been benign to preclude risk, but canyons, funnels, and newly discovered holes present steep slopes that defy tractive descent. Steep craters and holes with unconsolidated material pose a particularly treacherous danger to modern rovers. This research explores robotic braking by plowing, a novel m...
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Controlling slip is crucial to reliable descent of steep unconsolidated slopes such as those found in lunar craters. The ability to enter these craters provides opportunities to explore potential in-situ resources, such as water ice. We present a rover prototype with a novel, actuated, omni-directional plowing device and control method for maneuvering on steep slopes. Data from field experiment...
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Recent efforts in planetary robotic exploration aim toward craters, skylights, and other depressions with challenging terrain conditions. The access to such places requires traversing on extreme slopes where high levels of slip greatly hamper rover mobility and control. To successfully reach valuable targets such as water ice and mineral outcrops in these locations, slip must be promptly arrest...
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NASA’s Mars Exploration Rovers have set the standard for autonomous robotic exploration of planetary surfaces. Their abilities to detect and avoid geometric hazards, and measure and compensate for slip or heading changes, have made it possible to drive farther and in highly sloped areas, increasing the science return of the mission. Software updates that took place during the more than three ye...
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ورودعنوان ژورنال:
- J. Field Robotics
دوره 31 شماره
صفحات -
تاریخ انتشار 2014