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.
Control strategies for planetary rover motion and manipulator control
Symposium on Automatic Control in Space ; 1973 ; Genoa, Italy
01.06.1973
Aufsatz (Konferenz)
Keine Angabe
Englisch
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