Analysis and traction control of a rocker-bogie planetary rover

Robotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rocker­bogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

1998

Author dc:creator

• Hacot, Hervé, 1974-

Advisor dc:contributor.advisor

• Steven Dubowsky.

• Mechanical Engineering

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/9611

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/9611