Analysis of behavior based control for planetary cliff descent using cooperative robots

Computer Science – Performance

Scientific paper

Rate now

  [ 0.00 ] – not rated yet Voters 0   Comments 0

Details

Scientific paper

Future robotic planetary exploration will need to traverse geographically diverse and challenging terrain. Cliffs, ravines, and fissures are of great scientific interest because they may contain important data regarding past water flow and past life. Highly sloped terrain is difficult and often impossible to safely navigate using a single robot. This paper describes a control system for a team of three robots that access cliff walls at inclines up to 70°. Two robot assistants, or anchors, lower a third robot, called the rappeller, down the cliff using tethers. The anchors use actively controlled winches to first assist the rappeller in navigation about the cliff face and then retreat to safe ground. This paper describes the control of these three robots so they function as a team to explore the cliff face. Stability requirements for safe operation are identified and a behavior-based control scheme is presented. Behaviors are defined for the system and command fusion methods are described. Controller stability and sensitivity are examined. Controller performance is evaluated with simulation and a laboratory system.

No associations

LandOfFree

Say what you really think

Search LandOfFree.com for scientists and scientific papers. Rate them and share your experience with other people.

Rating

Analysis of behavior based control for planetary cliff descent using cooperative robots does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Analysis of behavior based control for planetary cliff descent using cooperative robots, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Analysis of behavior based control for planetary cliff descent using cooperative robots will most certainly appreciate the feedback.

Rate now

     

Profile ID: LFWR-SCP-O-1089731

  Search
All data on this website is collected from public sources. Our data reflects the most accurate information available at the time of publication.