Simulation and Control of a Passively Articulated, Segmented-Body Rover

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dc.contributor.advisorAkin, Daveen_US
dc.contributor.authorWasserman, Timothy Andrewen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2007-06-22T05:40:08Z
dc.date.available2007-06-22T05:40:08Z
dc.date.issued2007-06-05
dc.description.abstractMobility will be a key aspect of future planetary surface missions. A rover with several segments connected by rotary joints promises much capability in terrain traversal, but is not well understood. In this thesis, a computer model was built to simulate the movements of a passively articulated, segmented-body rover. Its main components are a linearized soil-wheel interaction model, a Newton-Euler based dynamic model, and a PD control module to regulate steering and handle disturbances. The simulation outputs were compared against results from past research on fixed-chassis vehicles. Next, the simulation was used to investigate the driving and turning behavior of articulated vehicles, and their controllability using a simple control system. It was found that the vehicle is relatively stable, and that simple control is possible.en_US
dc.format.extent15104402 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/7023
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.subject.pquncontrolledroveren_US
dc.subject.pquncontrolledsimulationen_US
dc.subject.pquncontrolledarticulateden_US
dc.subject.pquncontrolledsegmented-bodyen_US
dc.subject.pquncontrolledplanetaryen_US
dc.subject.pquncontrolledterramechanicsen_US
dc.titleSimulation and Control of a Passively Articulated, Segmented-Body Roveren_US
dc.typeThesisen_US

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