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Reconfigurable robots for all terrain exploration

机译：可重新配置的机器人，适用于所有地形探索

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While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges. These include increased autonomy autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use. We have begun work which addresses some of these issues, with an initial focus on problems of "high risk access," that is, autonomous roving over highly variable, rough terrain. This is a dual problem of sensing those conditions which require rover adaptation, and controlling the rover actions so as to implement this adaptation in a well understood way (relative to metrics of rover stability, traction, power utilization, etc.). Our work progresses along several related technical lines: 1) development a fused state estimator which robustly integrates internal rover state and externally sensed environmental information to provide accurate "configuration" information; 2) kinematic and dynamical stability analysis of such configurations so as to determine "predicts"for a needed change of control regime (e.g. traction control, active c.g. positioning, rover shoulder stance/pose); 3) definition and implementation of a behavior-based control architecture and action-selection strategy which autonomously sequences multi-level rover controls and reconfiguration. We report on these developments, both software simulations and hardware experimentation. Experiments include reconfigurable control of JPL's Sample Return Rover geometry and motion during its autonomous traverse over simulated Mars terrain.
机译：尽管最近在用于行星表面探测的移动机器人的开发方面取得了重大进展，但仍然存在重大挑战。这些包括增加的操作自主权，遍历具有挑战性的地形以及在长时间无人值守的使用期限内的容错能力。我们已经着手解决其中一些问题的工作，最初关注“高风险通道”问题，即在高度变化的崎terrain地形上进行自动巡视。这是一个双重问题，即感测到那些需要流动站适应的条件，并控制流动站的动作，以便以众所周知的方式（相对于流动站稳定性，牵引力，动力利用率等指标）实现这种适应。我们的工作沿着几个相关的技术路线进行：1）开发一种融合状态估算器，该融合器将内部流动站状态和外部感应到的环境信息进行可靠集成，以提供准确的“配置”信息; 2）对这种结构的运动和动力稳定性分析，以便确定控制方式（例如牵引力控制，主动例如定位，流动站的肩膀姿态/姿势）所需改变的“预测”; 3）基于行为的控制体系结构和动作选择策略的定义和实现，该体系结构和动作选择策略自动对多级流动站控制和重新配置进行排序。我们报告了这些发展，包括软件仿真和硬件实验。实验包括对JPL的“样本回返车”的几何形状和运动进行可重构控制，以在模拟火星地形上进行自主遍历期间进行运动。

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