ROBOTIC LUNAR ROVER SIMULATION
SIMULATION AND ANALYSIS OF TERRAIN SENSING,
POSITION DETERMINATION AND NAVIGATION
BY A ROBOTIC LUNAR ROVER
978-3-639-09347-6
363909347X
100
2008-10-24
49.00 €
eng
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To aid in the development of a lunar rover, a series
of robotic simulations was created using ROBOSIM and
MATLAB Simulink. The first of these simulations
utilized an invisible Cartesian robot along with
collision detection heuristics within ROBOSIM to
create an algorithm that emulated the surface
mapping of the Moon by a lunar reconnaissance
orbiter (LRO). The surface map produced by the LRO
scan was used with a second simulation where the
rover under supervised control, and with the use of
a laser range finder, measured its distance to prior
mapped terrain features. The measured distances,
along with the position coordinates of the mapped
terrain features were used to calculate the rover’s
position. The experimental results show that on
average the rover’s position was determined to
within 3.31 meters of its true position. These
results lead to the conclusion that this method of
position determination can provide accuracy similar
to the Earth-based global positioning system (GPS).
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