• robotics
• duaxel
• jpl
• extreme terrain
• nasa
• robotics exploration
• rover
• space robotics
• mobility
• control

The work has involved the development of rover control strategies to enhance the overall mobility of the DuAxel system on extreme terrains. In detail, a complete custom ROS package was developed from scratch, using Robot Operating System middleware libraries and Gazebo 3D simulator, to support robotic simulations for the NASA/JPL DuAxel rover. Then, a planar kinematic and dynamic model was formalized to implement an optimization-based tilting control for the center of mass adjustment, in order to improve the stability and minimize the slip while traversing steep slopes and highly uneven terrains. Moreover, a 3D kinematic model was proposed to develop a 3D passive steering differential drive control which inglobes roll motion compensation, needed to drive the rover on desired trajectories while traversing obstacles. The control architectures were developed in simulation and then implemented on the robotic system, and several tests were performed in both environments. The results has shown improvements in the overall mobility.