Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation

2016 ◽  
pp. 165-192 ◽  
Author(s):  
Roy Lichtenheldt ◽  
Stefan Barthelmes ◽  
Fabian Buse ◽  
Matthias Hellerer
Keyword(s):  
Planetary Exploration ◽  
Ground Contact

Mobile Robot Rough-Terrain Control (RTC) for Planetary Exploration

2000 ◽  
Author(s):  
Karl Iagnemma ◽  
Steven Dubowsky
Keyword(s):  
Kalman Filter ◽  
High Risk ◽  
Mobile Robot ◽  
Contact Angles ◽  
Optimization Criterion ◽  
Planetary Exploration ◽  
Rough Terrain ◽  
Ground Contact ◽  
Robot Systems ◽  
Simulation Results

Abstract Mobile robots are increasingly being developed for high-risk missions in rough terrain situations, such as planetary exploration. Here a rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. The methodology “chooses” an optimization criterion based on the local terrain profile. A key element of the method is to be able to estimate the wheel-ground contact angles. A method using an extended Kalman filter is presented for estimating these angles using simple on-board sensors. Simulation results for a wheeled micro-rover traversing Mars-like terrain demonstrate the effectiveness of the algorithms.

Gecko-Tech in Planetary Exploration and Base Operations

2002 ◽  
Author(s):  
Thomas L. Billings ◽  
Robert D. McGown ◽  
Cheryl Lynn York ◽  
Bryce Walden
Keyword(s):  
Planetary Exploration

Space imaging radar in planetary exploration and Earth observation

AIAA Journal ◽  
2001 ◽  
Vol 39 ◽  
pp. 553-563
Author(s):  
Charles Elachi
Keyword(s):  
Earth Observation ◽  
Planetary Exploration ◽  
Imaging Radar

Mission operations systems for planetary exploration

1988 ◽  
Author(s):  
WILLIAM MCLAUGHLIN ◽  
DONNA WOLFF
Keyword(s):  
Planetary Exploration ◽  
Mission Operations ◽  
Operations Systems

Dynamic Reconfiguration in Planetary Exploration: A Sociomaterial Ethnography

MIS Quarterly ◽  
2014 ◽  
Vol 38 (3) ◽  
pp. 831-848 ◽  
Author(s):  
Melissa Mazmanian ◽  
◽  
Marisa Cohn ◽  
Paul Dourish ◽  
◽  
...  
Keyword(s):  
Dynamic Reconfiguration ◽  
Planetary Exploration
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