Experiments with a small behaviour controlled planetary rover

Details Experiments with a small behaviour controlled planetary rover Experiments with a small behaviour controlled planetary rover

Jan 1993

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..545m&link_type=abstract

In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 545-551 (SEE N94-23373 06-91)

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Computation

Autonomy, Computer Programs, Hardware, Robot Control, Robots, Roving Vehicles, Surface Navigation, Numerical Control, Onboard Data Processing, Planetary Surfaces, Sampling, Terrain

Scientific paper

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

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