Robust, Flexible Motion Control for the Mars Explorer Rovers

TBMG-2348

09/01/2007

Abstract
Content

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level.

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Citation
"Robust, Flexible Motion Control for the Mars Explorer Rovers," Mobility Engineering, September 1, 2007.
Additional Details
Publisher
Published
Sep 1, 2007
Product Code
TBMG-2348
Content Type
Magazine Article
Language
English