Model predictive traction and steering control of planetary rovers

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 (Unpublished) (2013)

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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.

Item Type:	Conference or Workshop Item (Paper)
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics
Research Area:	Computer Science and Applications
Depositing User:	Ms T. Iannizzi
Date Deposited:	01 Jul 2014 12:18
Last Modified:	01 Jul 2014 12:18
URI:	http://eprints.imtlucca.it/id/eprint/2227

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