Beginning next century, several schemes for sending a planetary rover to the moon or Mars are being planned. As part of the development program, autonomous navigation technology is being studied to allow the rover the ability to move autonomously over a long range of unknown planetary surface. In the previous study, we ran the autonomous navigation experiment on an outdoor test terrain by using a rover test-bed that was controlled by a conventional sense-plan-act method. In some cases during the experiment, a problem occurred with the rover moving into untraversable areas. To improve this situation, a new control technique has been developed that gives the rover the ability of reacting to the outputs of the proximity sensors, a reaction behavior if you will. We have developed a new rover test-bed system on which an autonomous navigation experiment was performed using the newly developed control technique. In this outdoor experiment, the new control technique effectively produced the control command for the rover to avoid obstacles and be guided to the goal point safely.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Control technique for planetary rover

    Nakatani, Ichiro / Kubota, Takashi / Adachi, Tadashi et al. | NTRS | 1994


    Planetary rover

    LIU FEI / HE CHUNQIAO / LIANG PENG et al. | Europäisches Patentamt | 2015

    Freier Zugriff


    SMC Rover: Planetary Rover with Transformable Wheels

    Kawakami, A. / Torii, A. / Motomura, K. et al. | Springer Verlag | 2003


    Manipulator control for rover planetary exploration

    Cameron, Jonathan M. / Tunstel, Edward / Nguyen, Tam et al. | NTRS | 1992