Lunar Rover Motion Planning and Commands

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Journal Title
Journal ISSN
Volume Title
Sähkötekniikan korkeakoulu | Master's thesis
Date
2013-08-26
Department
Major/Subject
Space Robotics and Automation
Mcode
AS3004
Degree programme
SST - Space Science and Technology
Language
en
Pages
85+4
Series
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.
Description
Supervisor
Halme, Aarne
Thesis advisor
Halbach, Eric
Keywords
motion, planning, control, lunar, rover, lunabotics, mining
Citation