Planning and Control Algorithms for Enhanced Rough-Terrain Rover Mobility

Abstract

Future planetary exploration missions will require rovers to perform difficult tasks in rough terrain, with limited human supervision. Many current motion planning and control algorithms do not consider the physical characteristics of the rover and its environment, which limits their effectiveness in rough terrain. This paper presents an overview of physics-based rover and terrain modeling techniques that allow improved prediction of rough-terrain rover mobility. Kinematic and force models of a rover in rough terrain are presented. A method for on-line estimation of critical terrain physical parameters is presented. A method for on-line estimation of wheel-terrain contact geometry is also presented. It is shown that these modeling techniques can be used in advanced control and motion planning algorithms to improve a rover’s rough-terrain mobility. 1.