Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers
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
@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 = {Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '16)},
year = {2016},
month = {June},
}