ETD system

Electronic theses and dissertations repository

 

Tesi etd-03192020-114529


Thesis type
Tesi di laurea magistrale
Author
AUCONE, EMANUELE
URN
etd-03192020-114529
Title
ENHANCING MOBILITY AND CONTROL OF THE DUAXEL ROVER SYSTEM
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Caiti, Andrea
supervisore Dott. McGarey, Patrick
supervisore Dott. Nayar, Hari Das
Parole chiave
  • robotics
  • duaxel
  • jpl
  • extreme terrain
  • nasa
  • robotics exploration
  • rover
  • space robotics
  • mobility
  • control
Data inizio appello
30/04/2020;
Consultabilità
Secretata d'ufficio
Data di rilascio
30/04/2090
Riassunto analitico
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.
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