Lunar Rover Motion Planning and Commands

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.advisor Halbach, Eric Sinkarenko, Ivan 2013-10-31T10:35:16Z 2013-10-31T10:35:16Z 2013-08-26
dc.description.abstract Space exploration is moving forward and one of the topics currently being researched is mining. The objective of this thesis is to design and develop software for the auton- omous navigation of a wheeled rover that is being built for NASA’s Lunabotics Mining Competition. The motion control system is a crucial component of a planetary rover system and its implementation heavily depends on the chassis configuration. The configuration of the rover enables us to use three steering modes: Ackermann, Point- turn and Crab steering. The implementation takes advantages of all the modes and involves algorithms for path planning, path smoothing and path following. In addi- tion, the system offers a feature of automatic steering mode selection. The system can be tuned and controlled by the cross-platform application specifically developed for this purpose. The performance of the implemented system is analyzed by testing in a simulator with a realistic physics engine and 3D visualization capabilities. Our con- ducted tests confirm that the system is sufficient in the framework of the Lunabotics Mining Competition. en
dc.format.extent 85+4
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.title Lunar Rover Motion Planning and Commands en
dc.type G2 Pro gradu, diplomityö en Sähkötekniikan korkeakoulu fi
dc.subject.keyword motion en
dc.subject.keyword planning en
dc.subject.keyword control en
dc.subject.keyword lunar en
dc.subject.keyword rover en
dc.subject.keyword lunabotics en
dc.subject.keyword mining en
dc.identifier.urn URN:NBN:fi:aalto-201311017768
dc.programme.major Space Robotics and Automation fi
dc.programme.mcode AS3004 fi
dc.type.ontasot Master's thesis en
dc.type.ontasot Diplomityö fi
dc.contributor.supervisor Halme, Aarne
dc.programme SST - Space Science and Technology fi

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