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Path Planning for Planetary Exploration Rovers and Its Evaluation based on Wheel Slip Dynamics

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers.  ...  Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the slip motion profile of the rover.  ...  For example, a dynamic motion planning considering constrains on vehicle motions has been investigated in [2] .  ... 
doi:10.1109/robot.2007.363672 dblp:conf/icra/IshigamiNY07 fatcat:eaogr2i5rfgtzhcianpfkbheri

Model Predictive Control for Mobile Robots with Actively Reconfigurable Chassis [chapter]

P. Michael Furlong, Thomas M. Howard, David Wettergreen
2010 Springer Tracts in Advanced Robotics  
The motion planner uses a kinematic motion model and a terrain shape model to determine sequences of actions that minimize a cost function over vehicle attitude by modifying the shape of the velocity,  ...  While typical approaches for exploiting such mechanisms reply on feedback control, it is beneficial to consider actively controlled elements at planning time rather than during motion execution.  ...  Acknowledgements We gratefully acknowledge the contributions of our technical team and the assistance of Dominic Jonak, Scott Moreland, and James Teza.  ... 
doi:10.1007/978-3-642-13408-1_42 fatcat:podoqcleq5djpf7bldnvanyl7q

Model-Predictive Motion Planning: Several Key Developments for Autonomous Mobile Robots

Thomas Howard, Mihail Pivtoraiko, Ross A. Knepper, Alonzo Kelly
2014 IEEE robotics & automation magazine  
The development and application of kinodynamic motion planning algorithms has been a key development in the last decade of autonomous mobile robots.  ...  Examples of such disturbances include terrain shape for planetary rovers and wheel slip for autonomous automobiles  ...  Detailed acknowledgment of sponsorship is available in [1] , [2] , [5] , [6] , [9] , [11] , and [13] .  ... 
doi:10.1109/mra.2013.2294914 fatcat:6z2l46ucibbjleke57bdvm6m54

Design and Simulation Optimization of Obstacle Avoidance System for Planetary Exploration Mobile Robots

Guangxin Yang, Yuwang Liu, Lirong Guan
2019 Journal of Physics, Conference Series  
This paper proposes a new type of planetary detection multi-modal motion robot based on pure mechanical structure.  ...  In this paper, the obstacle avoidance system of the mobile robot is designed and optimized for the core components.  ...  Acknowledgments This work was financially supported by National Nature Science Foundation of China (51605474).  ... 
doi:10.1088/1742-6596/1176/3/032038 fatcat:swwla4mtdnd6hbymvsuwffua2e

Review on Sensitivity Analysis of a Dual-Mechanical-Port BiDirectional Machine

2020 International Journal of Emerging Trends in Engineering Research  
The machine uses bidirectional motion regulation impact to consolidate one stator and two rotors, meaning to acknowledge electrical and mechanical force adaptable split and mix.  ...  Because of the intricacy of the machine structure, traditional improvement techniques utilizing investigative model are unimportant.  ...  The activity guideline, motion balance rule and consistent execution of the machine are researched.  ... 
doi:10.30534/ijeter/2020/1368102020 fatcat:2mjmzpfydbd5fpbmx77cgmnozi

Free Fall Stability and Base Pressure Drop Tests for Planetary Entry Configurations

J. M. CASSANTO, P. BUCE
1971 Journal of Spacecraft and Rockets  
motion (top view) of model for the drop test. nificant effect of spin rate on the vehicle stability in near terminal descent.  ...  of blunt vehicle configurations entering the atmosphere of the planet Venus showed a sig- GROUND TEST SIMULATION ROLL RATE EFFECT ON BODY MOTION TOTAL ANGLE OF ATTACK (DEG.) 0 20 30 40 50 60 _ 60° SPHERE-CONE  ... 
doi:10.2514/3.59726 fatcat:dj5lt7ar7nhlhp4edi4brlnrom

Motion planning and control for a tethered, rimless wheel differential drive vehicle

Krishna Shankar, Joel W. Burdick
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Next we study some of the constraints which the tether places on the vehicle's motions and derive scaling laws relating wheel and vehicle speeds.  ...  The simplest kinematically consistent model is one that allows for slight prismatic motion of the axle, approximating the effects of wheel slip.  ...  Section II develops a kinematic model for a rimless differential drive vehicle and shows that without at least one more degree of freedom than the standard differential drive vehicle, its motion is inconsistent  ... 
doi:10.1109/iros.2013.6697053 dblp:conf/iros/ShankarB13 fatcat:4htw2cq3mzawblmc34ct6ihnua

Motion planning on steep terrain for the tethered axel rover

Pablo Abad-Manterola, Issa A. D. Nesnas, Joel.W. Burdick
2011 2011 IEEE International Conference on Robotics and Automation  
We present an algorithm for tethered robot motion planning on steep terrain that reduces the likelihood that the tether will become entangled during descent and ascent of steep slopes.  ...  This paper considers the motion planning problem that arises when a tethered robot descends and ascends steep obstacle-strewn terrain.  ...  Cameron and Dr. H.D. Nayar of the Jet Propulsion Laboratory for providing the altimeter data from the Shackleton Crater.  ... 
doi:10.1109/icra.2011.5980238 dblp:conf/icra/Abad-ManterolaNB11 fatcat:clpfwe7sh5ftphjknyw7fpkgnq

Actively articulated suspension for a wheel-on-leg rover operating on a Martian analog surface

William Reid, Francisco Javier Perez-Grau, Ali Haydar Goktogan, Salah Sukkarieh
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
Motion Planning and Stochastic Control with Experimental Validation on a Planetary Rover. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical  ...  Model Predictive Unified Planning and Control of Rotary-wing Unmanned Aerial Vehicle. 2012 12th International Conference on Control, Automation and Systems, Piscataway, New Jesery: (IEEE) Institute of  ... 
doi:10.1109/icra.2016.7487777 dblp:conf/icra/ReidPGS16 fatcat:x6w4c3fyizbevfsmvuzbm3pv3e

2010 Journal of Guidance, Control and Dynamics Subject Index

2010 Journal of Guidance Control and Dynamics  
Slewing Angular Rate Vector Launch Vehicle Guidance and Control G10-061 Reachable and Controllable Sets for Planetary Entry and Landing G10-082 Attitude Guidance for Spinning Vehicles with Independent  ...  Attack of Multiple Missiles G10-004 Modeling and Simulation of Hose- Paradrogue Aerial Refueling Systems G10-186 Unmanned Aerial Vehicle Coordination on Closed Convex Paths in Wind G10-047 Vision-Based  ... 
doi:10.2514/1.52477 fatcat:kvlsdca6hvhqfpvldlp2pwwon4

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

Liang Ding, Hai-bo Gao, Zong-quan Deng, Zhijun Li, Ke-rui Xia, Guang-ren Duan
2014 The Scientific World Journal  
Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers.  ...  An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method.  ...  This study focuses on the path-following problem of a planetary rover on deformable and very rough terrain, that is, when the wheels and the vehicle body are not at the same slope and their local orientation  ... 
doi:10.1155/2014/793526 pmid:24790582 pmcid:PMC3984778 fatcat:h5yqfzcvizcdjhklhv7pxra62m

Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil

Genya Ishigami, Akiko Miwa, Keiji Nagatani, Kazuya Yoshida
2007 Journal of Field Robotics  
This paper presents analytical models to investigate the steering maneuvers of planetary exploration rovers on loose soil.  ...  The motion profile of the entire rover is numerically evaluated by incorporating the wheel-soil models into an articulated multibody model that describes the motion dynamics of the vehicle's body and chassis  ...  Wheel-and-vehicle model To describe the motion dynamics of the vehicle's body and chassis, a wheel-and-vehicle model is developed.  ... 
doi:10.1002/rob.20187 fatcat:lcxc34ouanebplg5l57obfbwza

Robot manipulator technologies for planetary exploration

Hari Das, Xiaoqi Bao, Yoseph Bar-Cohen, Robert Bonitz, Randall A. Lindemann, Mark Maimone, Issa A. Nesnas, Christopher J. Voorhees, Norman M. Wereley
1999 Smart Structures and Materials 1999: Smart Structures and Integrated Systems  
torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms  ...  for instrument placement and sample acquisition from a rover vehicle.  ...  ACKNOWLEDGEMENT This work was done at the Jet Propulsion Laboratory, California Institute of Technology under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1117/12.350698 fatcat:bc4vrfrd45bpfa63toak67qtcu

Vision for Autonomous Vehicles and Probes (Dagstuhl Seminar 15461)

André Bruhn, Atsushi Imiya, Ales Leonardis, Tomas Pajdla, Marc Herbstritt
2016 Dagstuhl Reports  
Therefore, we strictly focuses on mathematical, geometrical and computational aspects of autonomous vehicles and autonomous vehicular technology which make use of computer vision and pattern recognition  ...  The vision-based autonomous driving and navigation of vehicles has a long history. In 2013, Daimler succeeded autonomous driving on a public drive way.  ...  A parametric model of the object in focus is generated and the visual appearance and motion of the object is synthesized from the model and compared with the visual input by a cost or fitness function.  ... 
doi:10.4230/dagrep.5.11.36 dblp:journals/dagstuhl-reports/BruhnILP15 fatcat:l2nqd45tnrabpdqmwex6enkxei

Page 791 of Journal of Spacecraft and Rockets Vol. 8, Issue 7 [page]

1971 Journal of Spacecraft and Rockets  
motion (top view) of model for the drop test. nificant effect of spin rate on the vehicle stability in near terminal descent.  ...  The models were planned to be caught in a net and reused. CAMERA NO.I CAMERA NO.2 SPIN RATE 30 RPM, STABLE Fig. 7 Drop test photos of 52° cone at 30 rpm (stable).  ... 
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