Computer Science
Scientific paper
Jan 1993
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..471m&link_type=abstract
In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 471 (SEE N94-23373 06-91)
Computer Science
Automatic Control, Control Systems Design, Mars Surface, Robot Dynamics, Roving Vehicles, Trajectory Optimization, Trajectory Planning, Algorithms, Computer Programs, Onboard Data Processing, Surface Properties
Scientific paper
Some of the problems connected to the development of an autonomous command system for a Mars rover functioning in interactive mode are addressed. Results of a selection of the criteria of path optimization are cited; criteria are represented in the form of dimensionless parameters of energy or time expenditure for the movement along the investigated surface. Requirements of the set of onboard information systems are presented; these provide receiving information on time and energy expenditure within the range of sensivity of the onboard information systems. The functional arrangement of the systems for receiving information on surface geometric and mechanical characteristics is described. Various algorithms for information processing, model forming, and selection of optimal rover path, taking into account requirements cited, are considered.
Bolhovitinov I.
Kalyaev I.
Kuznetsov Vitaly
Mishkinyuk V.
Noskov Vitaly
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