Roving vehicle motion control Quarterly report, 1 Mar. - 31 May 1967
System and subsystem requirements for remote control of roving space vehicle motion
SPACE VEHICLE↗
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Scientific exploration of the moon using a roving vehicle.
Apollo extension system /AES/ for lunar surface exploration
LUNAR ROVING VEHICLE /LRV/↗
A discrete adaptive guidance system for a roving vehicle
An adaptive guidance technique which provides a self-correcting path following capability in an environment sensitive semi-autonomous roving robot is described. A real-time maneuver planning function performs tradeoffs between speed, magnitude of expected deviations and accelerations to best satisfy the design goals of vehicle safety and reliability, subsystem autonomy, performance accuracy and operational efficiency. The appropriate combination of maneuver parameters is selected through an iterative process using knowledge of vehicle performance characteristics, environmental model updates and vehicle state
Miller, J. A.↗
Scientific exploration of the moon using a roving vehicle.
Measurements that could be carried out during traverse of moon in Kepler-Encke region to determine subsurface structure, surface density and chemical composition, etc
LUNAR EXPLORATION↗
A study and analysis of the MSFC lunar roving vehicle dust profile test program
The dust problem and fender design for the LRV were studied under reduced gravity with a lunar soil simulant. The test equipment, soil characteristics of the lunar soil simulant, and the test procedures are described. It is concluded: (1) The fender plus flap design is adequate. (2) Vacuum conditions tend to eliminate or reduce suspended dust clouds. (3) Reduced gravity conditions tend to increase the dust problems. (4) Slow starting speeds are necessary to minimize slip and reduce initial dust generation.
Mullis, C. H.↗
Articulated elastic-loop roving vehicles
Prototype vehicle features exceptional obstacle-negotiating and slope-climbing capabilities plus high propulsive efficiency. Concept should interest designers of polar or ocean-bottom research vehicles. Also, its large footprint and low ground pressure will minimize ecological damage on terrain with low bearing strength, as in off-the-road application.
Chang, C. J.↗
Recommendations relative to the scientific missions of a Mars Automated Roving Vehicle (MARV)
Scientific objectives of the MARV mission are outlined and specific science systems requirements and experimental payloads defined. All aspects of the Martian surface relative to biotic and geologic elements and those relating to geophysical and geochemical properties are explored.
Spencer, R. L.↗
Science aspects of a remotely controlled Mars surface roving vehicle.
Particular attention is given to aspects pertinent to teleoperation, remote control, onboard control, and man-machine relationships in carrying out scientific operations with such a vehicle. It is assumed that landed operations would comprise one Martian year and that the traverse would extend across an area approximately 500 km wide. The mission is assumed to be planned for the early 1980s. Its objective is to obtain data which will aid in answering a number of questions regarding the history of the solar system, the formation of Mars, and the evolution of life on Mars. A series of candidate rover payloads is proposed to meet the requirements. The smallest payload includes a TV camera, a general-purpose manipulator arm, a crusher and siever, an X-ray diffractometer-spectrometer, a gravimeter, a magnetometer, meteorological instruments, and a radio transponder.
Choate, R.↗
Path selection system development and evaluation for a Martian roving vehicle
A path selection system evaluation test procedure has been developed to enhance the analysis capability of an existing digital computer simulation package. The procedure investigates the obstacle avoidance ability of a path selection system on a sequence of test terrains with and without random effects. Using the standard test procedure a proposed mid-range sensor system has been evaluated and recommendations directed at improving the performance of the system have been made. In addition, the initial development and evaluation of a short range sensor system has been undertaken.
Campbell, R. S.↗
Data acquisition and path selection decision making for an autonomous roving vehicle
Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data.
Frederick, D. K.↗
Autonomous control of roving vehicles for unmanned exploration of the planets
The guidance of an autonomous rover for unmanned planetary exploration using a short range (0.5 - 3.0 meter) hazard detection system was studied. Experimental data derived from a one laser/one detector system were used in the development of improved algorithms for the guidance of the rover. The new algorithms which account for the dynamic characteristics of the Rensselaer rover can be applied to other rover concepts provided that the rover dynamic parameters are modified appropriately. The new algorithms will also be applicable to the advanced scanning system. The design of an elevation scanning laser/multisensor hazard detection system was completed. All mechanical and electronic hardware components with the exception of the sensor optics and electronic components were constructed and tested.
Yerazunis, S. W.↗
Vision-based guidance for an automated roving vehicle
A controller designed to guide an automated vehicle to a specified target without external intervention is described. The intended application is to the requirements of planetary exploration, where substantial autonomy is required because of the prohibitive time lags associated with closed-loop ground control. The guidance algorithm consists of a set of piecewise-linear control laws for velocity and steering commands, and is executable in real time with fixed-point arithmetic. The use of a previously-reported object tracking algorithm for the vision system to provide position feedback data is described. Test results of the control system on a breadboard rover at the Jet Propulsion Laboratory are included.
Griffin, M. D.↗
Guidance system for a roving vehicle
Computer controlled guidance system for semiautonomous robot guides robot in incompletely defined environment. System operates in real time avoiding obstacles detected by "stereo television and laser range finder eyes."
Miller, J. A.↗
Data acquisition and path selection decision making for an autonomous roving vehicle
The feasibility of using range/pointing angle data such as might be obtained by a laser rangefinder for the purpose of terrain evaluation in the 10-40 meter range on which to base the guidance of an autonomous rover was investigated. The decision procedure of the rapid estimation scheme for the detection of discrete obstacles has been modified to reinforce the detection ability. With the introduction of the logarithmic scanning scheme and obstacle identification scheme, previously developed algorithms are combined to demonstrate the overall performance of the intergrated route designation system using laser rangefinder. In an attempt to cover a greater range, 30 m to 100 mm, the problem estimating gradients in the presence of positioning angle noise at middle range is investigated.
Shen, C. N.↗
Design and Manufacture of Wheels for A Dual-Mode (Manned - Automatic) Lunar Surface Roving Vehicle. Volume 1: Detailed Technical Report
The concept development, testing, evaluation, and the selection of a final wheel design concept for a dual-mode lunar surface vehicle (DLRV) is detailed. Four wheel configurations were fabricated (one open wheel and three closed wheel) (and subjected to a series of soft soil, mechanical, and endurance tests. Results show that the open wheel has lower draw-bar pull (slope climbing) capability in loose soil due to its higher ground pressure and tendency to dig in at high wheel slip. Endurance tests indicate that a double mesh, fully enclosed wheel can be developed to meet DLRV life requirements. There is, however, a 1.0 to 1.8 lb/wheel weight penalty associated with the wheel enclosure. Also the button cleats used as grousers for the closed-type wheels result in local stress concentration and early fatigue failure of the wire mesh. Load deflection tests indicate that the stiffness of the covered wheel increased by up to 50% after soil bin testing, due to increased friction between the fabric and the wire mesh caused by the sand. No change in stiffness was found for the open wheel. The single woven mesh open wheel design with a chevron tread is recommended for continued development
Source record↗
Mars to earth optical communication link for the proposed Mars Sample Return mission roving vehicle
The Mars Sample Return (MSR) mission planed for 1989 will deploy a rover from its landing craft to survey the Martian surface. During traversals of the rover from one site to the next in search of samples, three-dimensional images from a pair of video cameras will be transmitted to earth; the terrestrial operators will then send back high level direction commands to the rover. Attention is presently given to the effects of wind and dust on communications, the architecture of the optical communications package, and the identification of technological areas requiring further development for MSR incorporation.
Sipes, Donald L., Jr.↗
Lubricant and seal technologies for the next generation of lunar roving vehicles
In a recent study commissioned by NASA it was determined that tribological failures can be life-limiting in many applications for the next generation of lunar rover vehicles and therefore warrant special consideration. This paper describes the technological issues and key findings of the study. Recommended technology development needs are also presented. Because the suitability of lubricant and seal concepts must be evaluated in the context of a specific application, these technology programs are tied to advanced development of key system components. The mobility subsystem mechanisms on rover vehicles plus selected components of attached tools were determined to be essential elements which warrant advanced development in order to enhance reliability and decrease maintenance requirements. Accurate assessments of EVA, logistic support, and spare parts requirements cannot be accomplished until the advanced development programs near completion.
Ramsey, Paul S.↗
Roving Vehicles for Lunar and Planetary Exploration
This special bibliography includes the design, development, and application of lunar and Mars rovers; vehicle instrumentation and power supplies; navigation and control technologies; and site selection.
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