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Lunar Rover Motion Planning and Commands
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Space exploration is moving forward and one of the topics currently being researched is mining. The objective of this thesis is to design and develop software for the auton- omous navigation of a wheeled rover that is being built for NASA’s Lunabotics Mining Competition. The motion control system is a crucial component of a planetary rover system and its implementation heavily depends on the chassis configuration. The configuration of the rover enables us to use three steering modes: Ackermann, Point- turn and Crab steering. The implementation takes advantages of all the modes and involves algorithms for path planning, path smoothing and path following. In addi- tion, the system offers a feature of automatic steering mode selection. The system can be tuned and controlled by the cross-platform application specifically developed for this purpose. The performance of the implemented system is analyzed by testing in a simulator with a realistic physics engine and 3D visualization capabilities. Our con- ducted tests confirm that the system is sufficient in the framework of the Lunabotics Mining Competition.

Place, publisher, year, edition, pages
2013. , 85 p.
Keyword [en]
Technology, motion, planning, control, lunar, rover, lunabotics, mining
Keyword [sv]
URN: urn:nbn:se:ltu:diva-43530Local ID: 16851f45-7e6f-4204-a474-22d2c3ce57f0OAI: diva2:1016763
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20131016 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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