eprintid: 2227
rev_number: 9
eprint_status: archive
userid: 6
dir: disk0/00/00/22/27
datestamp: 2014-07-01 12:18:48
lastmod: 2014-07-01 12:18:48
status_changed: 2014-07-01 12:18:48
type: conference_item
metadata_visibility: show
creators_name: Krenn, Rainer
creators_name: Gibbesch, Andreas
creators_name: Binet, Giovanni
creators_name: Bemporad, Alberto
creators_id: 
creators_id: 
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
title: Model predictive traction and steering control of planetary rovers
ispublished: unpub
subjects: TL
divisions: CSA
full_text_status: public
pres_type: paper
abstract: Results of the ESA project RobMPC (Robust Model Predictive Control for Space Constraint Systems) could successfully demonstrate that model predictive control (MPC) is definitively applicable for space systems with high dynamics like wheeled vehicles exploring a planetary surface. In the context of RobMPC a rover control hierarchy for guidance, trajectory control as well as traction and steering control was implemented. Controller verifications and robustness tests were performed using a functional engineering simulator (FES) including a multi-body dynamics model of ESA’s EGP rover and the vehicle-terrain contact physics. The latest validation step is the MPC implementation on a real-time computer system controlling the ExoMars breadboard rover at DLR’s planetary exploration lab.
date: 2013
date_type: published
pagerange: 1-8
event_title:  12th Symposium on Advanced Space Technologies in Robotics and Automation, ASTRA 2013
event_location: Noordwijk, The Netherlands
event_dates: 15th - 17th May 2013
event_type: conference
refereed: TRUE
related_url_url: http://robotics.estec.esa.int/ASTRA/Astra2013/astra2013_programme.html
related_url_type: org
citation:   Krenn, Rainer and Gibbesch, Andreas and Binet, Giovanni and Bemporad, Alberto  Model predictive traction and steering control of planetary rovers.  In:  12th Symposium on Advanced Space Technologies in Robotics and Automation, ASTRA 2013, 15th - 17th May 2013, Noordwijk, The Netherlands pp. 1-8.      (Unpublished)   (2013)  
document_url: http://eprints.imtlucca.it/2227/1/Astra2013.pdf