Autonomous Planetary Rover Control Using Inverse Simulation

Worrall, K. , Thomson, D. , McGookin, E. and Flessa, T. (2015) Autonomous Planetary Rover Control Using Inverse Simulation. In: 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), ESA/ESTEC, Noordwijk, 11-13 May 2015,

Worrall, K. , Thomson, D. , McGookin, E. and Flessa, T. (2015) Autonomous Planetary Rover Control Using Inverse Simulation. In: 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), ESA/ESTEC, Noordwijk, 11-13 May 2015,

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Publisher's URL: http://robotics.estec.esa.int/ASTRA/Astra2015/Papers/Poster%20Session/P23_Worrall.pdf

Abstract

With extended autonomous capability planetary rovers will be able to carry out more exploration. This paper presents a method of control that provides such autonomy. This controller is based on Inverse Simulation, which considers the path to be taken and the dynamics of the rover. The principle of Inverse Simulation is that the time history for the desired trajectory is used as an input to the Inverse Simulation which outputs the required control values over the course of the manoeuvre to be carried out. The resulting control signal can then be applied to the rover to make it manoeuvre in the desired manner. This method of control provides very accurate position and orientation control of the rover while considering the limitations of the rover and the actuators used.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Worrall, Dr Kevin and Flessa, Ms Thaleia and Thomson, Dr Douglas and McGookin, Dr Euan
Authors: Worrall, K., Thomson, D., McGookin, E., and Flessa, T.
Subjects:T Technology > T Technology (General)
T Technology > TL Motor vehicles. Aeronautics. Astronautics
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
College of Science and Engineering > School of Engineering
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