Analysis and traction control of a rocker-bogie planetary rover

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.Includes bibliographical references (leaves 86-90).Robotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rocker­bogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme.by Hervé Hacot.S.M