An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.


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    Titel :

    Control strategies for planetary rover motion and manipulator control


    Beteiligte:
    Trautwein, W. (Autor:in)

    Kongress:

    Symposium on Automatic Control in Space ; 1973 ; Genoa, Italy


    Erscheinungsdatum :

    01.06.1973


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




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