Design and Control of an Innovative Micro-Rover

摘要: During recent years the European Space Agency (ESA) has started to develop concepts for micro-rovers planetary missions. An ESA Technology Research Program (TRP) activity "Micro-Robots Scientific Applications" been dedicated this subject. Within an interdisciplinary group of space companies and research labs new designs have investigated. Two concepts, a simple robust one innovative one, selected functional breadboard models them are currently built. After discussion key issues locomotion present paper will focus on design, implementation control SpaceCat, more solution as model B whereas complementary work A is described in detail [1]. It consists 6 independently driven wheels arranged two triangles. therefore allows not only efficient rolling flat surfaces but also step obstacles. Additionally center mass instrumentation carrousel adjustable, allowing optimally balance micro-rover almost every situation. Even after flipping over robot always be able get back its wheels. To navigate rover autonomously within range about 10 20 meters from lander, active vision system used with camera lander. through very user-friendly interface. Local piloting obstacle avoidance based various board sensors. This enables collision free operation even rough terrain. defined following main requirements constraints: o Stowed dimensions envelope (cm): 30 x Net system:max. 2 kg Mass scientific payload:2 Electrical power provided by lander:max. Watt average, max. 3 peak Possibility position sensors: accuracy around 1 mm Maximum speed: 5 m/h The must overcome obstacles 0.1 m height holes width. climb slopes 15° upwards 20° downwards. Simple maneuvers like turning moving backward required too. Moreover, ensure mission success identified: No risk sinkage getting stuck sand Flip-over stability Recovery flip-over having buried storm