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Author:Sinkarenko, Ivan
Title:Lunar Rover Motion Planning and Commands
Publication type:Master's thesis
Publication year:2013
Pages:xi + 85 + liitt. (+4)      Language:   eng
Department/School:Sähkötekniikan korkeakoulu
Main subject:Space Robotics and Automation   (AS3004)
Supervisor:Halme, Aarne ; Gustafsson, Thomas
Instructor:Halbach, Eric
Electronic version URL: http://urn.fi/URN:NBN:fi:aalto-201311017768
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  7451   | Archive
Keywords:motion
planning
control
lunar
rover
lunabotics
mining
Abstract (eng):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.
ED:2013-12-02
INSSI record number: 48088
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