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Satellite navigation method for locating Mars landmark or target point for exploration by roving vehicle located as center of coordinate system
The simulation and evaluation of proposed path selection systems for an autonomous Martian roving vehicle was developed. The package incorporates a number of realistic features, such as the simulation of random effects due to vehicle bounce and sensor-reading uncertainty, to increase the reliability of the results. Qualitative and quantitative evaluation criteria were established. The performance of three different path selection systems was evaluated to determine the effectiveness of the simulation package, and to form some preliminary conclusions regarding the tradeoffs involved in a path selection system design.
The problem of systematically determining the optimal design for an unmanned Mars-roving vehicle is considered. A system model, identifying all feasible designs, is generated by consideration of the physical constraints on the design parameters, and the requirement that the system be deliverable to the Mars surface. An expression which evaluates system performance relative to mission goals is developed. The model and objective function together allow simulation of the effects of design trade-offs upon system performance for all feasible designs. Nonlinear programming techniques are utilized to identify the optimal design.
Human and man/system requirements to provide criteria for choosing alternative mission and lunar surface roving vehicles design concepts
Digital maps of hazards to movement for dual mode Lunar Roving Vehicle
The use of a retroflecting satellite and a laser rangefinder to navigate a Martian roving vehicle is considered in this paper. It is shown that a simple system can be employed to perform this task. An error analysis is performed on the navigation equations and it is shown that the error inherent in the scheme proposed can be minimized by the proper choice of measurement geometry. A nonlinear programming approach is used to minimize the navigation error subject to constraints that are due to geometric and laser requirements. The problem is solved for a particular set of laser parameters and the optimal solution is presented.
This paper presents an approach to a microprocessor based computing system for a Mars Roving Vehicle. This represents a practical example in that it combines a breadboard robot (the Rover) with a distributed microprocessor computing system, both of which are under development at JPL and are being considered for a 1984 Mars Rover Mission. A summary of the Rover functions is presented, along with an approach of applying distributed computers. The Rover is then partitioned into its main subsystems (executive, locomotion, manipulation, and vision) and subsystem and system interfaces established. Computing requirements are discussed and a system diagram developed.
Design of control equipment for unmanned Martian roving vehicle
After listing the basic requirements such as operational demands and lunar environmental conditions, characteristic design data of the roving vehicle are given with special attention to the four wheel drive and its control system, the steering system, and the navigational instrumentation. The overall system is optimized in view of total mass, range, mobility, load carrying capability, safety, highest reliability through redundancy, and last but not least, cost and development time. Optimization of the drive and power system has first been evaluated by mathematical models and computational simulation of the vehicle hardware, the wheel/soil interaction, and the lunar terrain profile. The next step to refine optimization and evaluation of the drive, steering, and power system including man/machine interaction has been carried out by the use of a six-degree-of-freedom simulator subjecting the astronauts in their space suits to simulated vehicle motions while driving over a simulated terrain, observable on a cathode ray tube display.
A comprehensive digital computer simulation program has been developed for evaluating the path-selection system performance of an autonomous roving vehicle being designed for the exploration of Mars. Vehicle performance over realistic three-dimensional terrains in the presence of random motion disturbances and sensor measurement noise is simulated and plotted on a terrain contour map. In addition, a numerical figure-of-merit is computed automatically for each run.
Supervisory or semiautonomous control has some compelling advantages over step-by-step human command and verification for the operation of roving vehicles on remote planetary surfaces. There are also disadvantages in relation to the complex system that must be mobilized and the chain of events that must be enacted to conduct a mission. Which of the two control methods is better on technical grounds may not be the deciding factor in its acceptance or rejection. Some of the issues that affect changes in spacecraft design and operation are summarized. To accelerate the movement toward more autonomous machines, it will be necessary to understand and to address the problems that such autonomy will create for other elements of the control system and for the control process.
A simplified method is described for determining the position of the lunar roving vehicle on the lunar surface during Apollo 15. The method is based upon sun compass azimuth measurements of three lunar landmarks. The difference between the landmark azimuth and the sun azimuth is measured and the resulting data are voice relayed to the Mission Control Center for processing.
A developmental test plan for the wheel and wheel drive assembly of the dual-mode (manned/automated) lunar surface roving vehicle is presented. The tests cover performance, as well as critical environmental characteristics. Insofar as practical, the environmental conditions imposed will be in the sequence expected during the hardware's life from storage through the lunar mission. Test procedures are described for static load deflection and endurance tests. Soft soil tests to determine mobility characteristics including drawbar-pull and thrust vs slip, and motion resistance for various wheel loads are also discussed. Test designs for both ambient and thermal vacuum conditions are described. Facility, transducer, and instrumentation requirements are outlined.
The off-scale low indications of the voltmeters for batteries one and two at initial powerup of the Apollo 16 lunar roving vehicle were analyzed. No single condition was found that would explain the anomalous meter indications. It is concluded that the intermittent conditions must have existed in the multiple wire splices to the meters.
Work in two somewhat distinct areas is presented. First, the optimal system design problem for a Mars-roving vehicle is attacked by creating static system models and a system evaluation function and optimizing via nonlinear programming techniques. The second area concerns the problem of perturbed-optimal solutions. Given an initial perturbation in an element of the solution to a nonlinear programming problem, a linear method is determined to approximate the optimal readjustments of the other elements of the solution. Then, the sensitivity of the Mars rover designs is described by application of this method.
The general problem of estimating the state vector x from the state equation h = Ax where h, A, and x are all stochastic, is presented. Specifically, the problem is for an autonomous Martian roving vehicle to utilize laser measurements in estimating the gradient of the terrain. Error exists due to two factors - surface roughness and instrumental measurements. The errors in slope depend on the standard deviations of these noise factors. Numerically, the error in gradient is expressed as a function of instrumental inaccuracies. Certain guidelines for the accuracy of permissable gradient must be set. It is found that present technology can meet these guidelines.
The general problem presented in this paper is one of estimating the state vector x from the state equation h = Ax, where h, A, and x are all stochastic. Specifically, the problem is for an autonomous Martian Roving Vehicle to utilize laser measurements in estimating the gradient of the terrain. Error exists due to two factors - surface roughness and instrumental measurements. The errors in slope depend on the standard deviations of these noise factors. Numerically, the error in gradient is expressed as a function of instrumental inaccuracies. Certain guidelines for the accuracy of permissable gradient must be set. It is found that present technology can meet these guidelines.-
Equations of motion have been formulated for a four-wheel vehicle as it traverses a terrain characterized by slopes, craters, bumps, washboards, or a power spectrum. Independent suspension and electric motor propulsion are considered. These equations were programmed on the UNIVAC 1108 digital computer. Results are given for the steerability of the Lunar Roving Vehicle (LRV) which was found to be satisfactory for normal operating speeds and turning radii. The vehicle was also found to be satisfactory against overturning in both the pitch and roll mode, and results are presented for various speeds as the LRV engages a bump on meter in diameter and of varying heights. Speed, power consumption, and load characteristics are presented for the LRV traversing a simulated lunar soil at full throttle. Comparisons are given against data compiled from the Apollo 15 mission.