Taxonomy, Systems Review and Performance Metrics of Planetary Exploration Rovers

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)

103633.pdf - Accepted Version



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
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.
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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
584861EPSRC Doctoral Training Grant 2011-2015Mary Beth KneafseyEngineering & Physical Sciences Research Council (EPSRC)EP/J500434/1VICE PRINCIPAL RESEARCH & ENTERPRISE