|Article title||EVALUTION MARS ROVERS MOVABILITY FOR THE PURPUSE OF DEVELOPMENT OF LOCOMOTION SYSTEMS AND ALGORITMS OF CONTROL OF NEW GENERATION PLANET ROVERS|
|Authors||M.I. Malenkov, V.A. Volov, N.K. Guseva, E.A. Lazarev|
|Section||SECTION III. GROUND ROBOTICS|
|Month, Year||01, 2015 @en|
|Abstract||The purpose of research represented in the current article is studying of the American mars-rover exploitation successful experience, analyzing of reasons and ways of correction of the detected faults, as well as the choice of the upcoming trends in designing and algorithms of control of the new generation planet rovers. Spirit and Opportunitу mars-rovers, which were delivered to Mars in 2004, and Curiosity mars-rover, that began operating in 2012, set the very high standard of perfection for all further Martian expeditions in terms of operational life, durability, characteristics of vision system, navigation, telecommunications, thermal conditions control as well as operating level of the mechanism and program parts of the control systems. Although the mobility of these vehicles, characterized by the average speed and parameters of the overcome (without maneuvering) obstacles, which are the height of steps and rocks, angle of climb of terrain, minimal value of the bearing capacity of soil on which the mars-rover can realize its movement function, cannot be taken as a good example. The time spent on traveling from point A to point B within the limits of the specified area is taken as a generalized characteristic. The more difficult is the route and the less is the set speed, the more significant is the influence on the movability of a planet rover and the degree of adaptation to the terrain as well as physical and mechanical properties of the soil. One of possible ways to improve the movability of the vehicle is using of combined propulsions integrated with adaptive suspensions. This makes it possible to combine several different ways of movement and adaptation of the propulsion to the surface in one self-propelled chassis. If sensors of forecasting of required values of cross-country ability and floatation are included in the navigation contour, optimal algorithms of change of the ways, regimes and directions of movement can be designed. Development and project implementation of the new technical solutions will let to provide fundamentally different, much higher degree of the planet rovers movability.|
|Keywords||Mars rover; propulsion device; control algorithms; walking mechanism; adaptive suspension; locomotion system; movability; passableness.|
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