Choosing the Best Locomotion Mode in Reconfigurable Rovers

• DOI: 10.3390/electronics8070818
• Publication Date: 2019-07-22T15:07:28Z
• Authors: Carlos Jesús Pére...; Pablo Romeo Manrique; Gonzalo Jesús Paz...; José Ricardo Sánc...; Martin Azkarate
• Keywords: Traverse; Mode (computer interface)

The use of autonomous rovers for planetary exploration is crucial to traverse long distances and perform new discoveries on other planets. One the most important issues related interaction between rover wheel terrain, which would help save energy even avoid getting entrapped. reconfigurable with different locomotion modes has demonstrated improvement traction consumption. Therefore, objective this paper determine best mode during traverse, based simple parameters, be obtained from propioceptive sensors. For purpose, terrains have been modelled analysed ExoTeR, a scale prototype European ExoMars 2020 mission. This able perform, among others, walking mode, improve in situations. Currently, it difficult decide instant time switch another. also proposes novel method estimate slip ratio, useful deciding mode. Finally, results are an immersive simulation environment. It shows how each suitable slopes proposed ratio.