Flessa, T., McGookin, E. W. and Thomson, D. G. (2014) Taxonomy, Systems Review and Performance Metrics of Planetary Exploration Rovers. In: 13th International Conference on Control, Automation, Robotics and Vision (ICARCV'14), Marina Bay Sands, Singapore, 10-12 Dec 2014, pp. 1554-1559. (doi: 10.1109/ICARCV.2014.7064547)
|
Text
103633.pdf - Accepted Version 313kB |
Abstract
A taxonomy of planetary exploration rovers is presented, followed by a review of systems used in missions and in an experimental phase. The baseline design emerges as four or six wheels, rocker-bogie based passive suspension and all wheel driving/selected wheel steering. A trend is also apparent in the use of wheel — legged hybrid locomotion. The performance metrics are presented by which the differing configurations of the locomotion subsystem for wheeled rovers with a passive suspension may be systematically evaluated. The taxonomy and aggregated metrics presented in this paper aid in the comparison and selection of rover characteristics, while the baseline design is a representative example of current practices and future trends.
| Item Type: | Conference Proceedings |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Thomson, Dr Douglas and McGookin, Dr Euan and Flessa, Ms Thaleia |
| Authors: | Flessa, T., McGookin, E. W., and Thomson, D. G. |
| College/School: | College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity College of Science and Engineering |
| Copyright Holders: | Copyright © 2014 IEEE |
| Publisher Policy: | Reproduced in accordance with the copyright policy of the publisher. |
| Related URLs: |
University Staff: Request a correction | Enlighten Editors: Update this record
Altmetric
Altmetric