/Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers

Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers

Hiroaki Inotsume, Colin Creager, David Wettergreen and William (Red) L. Whittaker
Conference Paper, The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2016, June, 2016

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper addresses the problem of selecting routes for ascending slopes of loose, unconsolidated soil. When exploring sloped terrain where high slippage is likely, rovers need to find efficient and successful routes because of limited energy. In this research, the influence of the rover’s heading on slope, or angle of attack, on the slope ascent performance was analyzed based on an analytical rover model. The rover slip and tractive power efficiency were predicted and associated with the angle of attack. Based on the analysis, this research proposed a strategy to select feasible routes that maximize the power efficiency under user-defined slip regulation levels. Numerical simulations were demonstrated to evaluate the usability of the proposed route selection method.

BibTeX Reference
@conference{Inotsume-2016-5374,
author = {Hiroaki Inotsume and Colin Creager and David Wettergreen and William (Red) L. Whittaker},
title = {Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers},
booktitle = {The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2016},
year = {2016},
month = {June},
}
2017-09-13T10:38:24+00:00