search query: @instructor Halbach, Eric / total: 3
reference: 1 / 3
« previous | next »
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.
Instructions Reading digital theses in the closed network of the Aalto University Harald Herlin Learning CentreIn the closed network of Learning Centre you can read digital and digitized theses not available in the open network. The Learning Centre contact details and opening hours: https://learningcentre.aalto.fi/en/harald-herlin-learning-centre/ You can read theses on the Learning Centre customer computers, which are available on all floors.
Logging on to the customer computers
Opening a thesis
Reading the thesis
Printing the thesis
|
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
+ add basket
« previous | next »
INSSI