OPTIMAL TRAJECTORY DESIGN AND CONTROL OF A PLANETARY EXPLORATION ROVER

被引：0

作者：

Godbole, Ameya R. ^{[1
]}

Murali, V. N. V. ^{[1
]}

Quilen, Paul ^{[1
]}

Subbarao, Kamesh ^{[1
]}

机构：

[1] Univ Texas Arlington, Mech & Aerosp Engn Dept, 500 W 1st St, Arlington, TX 76010 USA

来源：

SPACEFLIGHT MECHANICS 2017, PTS I - IV | 2017年 / 160卷

关键词：

D O I：

暂无

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

The purpose of this paper is to combine the Navigation function path-planning algorithm with the minimum jerk trajectory design for a planetary exploration rover with some physical constraints associated with it. A new method to redesign the trajectory will be discussed when the physical constraints suddenly change. A trajectory tracking controller will be designed so as to calculate the wheel speeds. This will simplify the process of merging the framework with the experimental setup by having control law calculate the wheel speeds for tracking the trajectory of the rover.

引用

页码：1557 / 1570

页数：14

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