Asahi Oe, Shin-Ichiro Nishida, Shintaro Nakatani
Journal of Terramechanics, Volume 112, 2024, Pages 35-43, ISSN 0022-4898
https://doi.org/10.1016/j.jterra.2023.12.001.(https://www.sciencedirect.com/science/article/pii/S0022489823000976)
Abstract: Planetary surface exploration rovers are required to have the ability to travel over uneven ground such as sandy or rocky terrain. In addition, to maintain long-term functionality under severe mass constraints, the rover must be highly reliable with a simple configuration. The reduction in the number of actuators will also contribute to a reduction in the number of electrical components involved and improve reliability. This paper proposes a lightweight and simple traveling and steering mechanism that combines a path-following system based on the difference in rotational speed of the left and right wheels when traveling in a curve and a passive Ackermann mechanism without an actuator, assuming a small exploration rover of a size and mass that can be mounted on a Japanese launch vehicle. We also propose a correction method to improve the path-following performance. We also developed a prototype wheeled rover of the target size and weight, and tested and evaluated the effectiveness of the proposed method in following the target path and overcoming obstacle on simulated soil.
Keywords: Mars Exploration Rovers; Passive Steering Mechanism; Path Following