Numerical Stability of Inverse Simulation Algorithms Applied to Planetary Rover Navigation

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)




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
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
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
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