Computer Science
Scientific paper
Jan 1993
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..455o&link_type=abstract
In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 455-464 (SEE N94-23373 06-91)
Computer Science
Mars (Planet), Roving Vehicles, Space Exploration, Systems Engineering, Control Systems Design, Image Processing, Reliability, Spacecraft Maintenance
Scientific paper
A concept composed of two identical vehicles connected by cable system is proposed for Mars exploration. Each vehicle is rather conventional with wheels, but the dual vehicle concept provides an outstanding capability, especially when either of them encounters an unexpected difficulty. This is just like a two person party of rock climbing. The leader vehicle can explore an unknown terrain at a risk of falling down or upset. The follower vehicle connected by an extensible cable moves very carefully according to the path exploited by the leader. If the vehicles are augmented by crane capability, it becomes possible to climb rocks whose size exceeds the limitation imposed by vehicle wheel radius, and also to recover from capture in a ditch. A fundamental concept is presented together with operation scenario for mountain climbing and waste land traveling. The key technology includes image processing, maintenance procedures, and hierarchy control under unknown environment. It is demonstrated by simulation that the dual vehicles corporation can do much more and provide increased reliability than the individual capability doubled.
Matsumoto Katsumi
Ohkami Yoshiaki
Yoshida Tadashi
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