Flessa, T., McGookin, E. and Thomson, D. (2016) Numerical Stability of Inverse Simulation Algorithms Applied to Planetary Rover Navigation. In: 24th Mediterranean Conference on Control and Automation (MED 2016), Athens, Greece, 21-24 June 2016, pp. 901-906. ISBN 9781467383455 (doi: 10.1109/MED.2016.7535960)
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Abstract
Extending the navigational capability of planetary rovers is essential for increasing the scientific outputs from such exploratory missions. In this paper a navigation method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required control inputs to achieve a desired, specified response. Here this is a desired trajectory defined as a series of waypoints. Inverse Simulation considers the complete system dynamics of the rover to calculate the control input using an iterative, numerical Newton – Raphson scheme. The paper provides an insight into the numerical parameters that affect the performance of the method. Also, the influence of varying the timestep and the convergence tolerance is examined in terms of the quality of the calculated control input and the resulting trajectory, as well as the execution time. From this analysis a set of parameters and recommendations to successfully apply Inverse Simulation to a rover is presented.
| 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., and Thomson, D. |
| College/School: | College of Science and Engineering College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity |
| ISBN: | 9781467383455 |
| Published Online: | 08 August 2016 |
| Copyright Holders: | Copyright © 2016 IEEE |
| First Published: | First published in Proceedings of 24th Mediterranean Conference on Control and Automation (MED 2016): 901-906 |
| Publisher Policy: | Reproduced in accordance with the publisher copyright policy |
| Related URLs: |
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