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On multi-objective optimization of planetary exploration rovers applied to ExoMars-type rovers

Leite, Alexandre Carvalho (2011) On multi-objective optimization of planetary exploration rovers applied to ExoMars-type rovers. In: ASTRA 2011, ESA/ESTEC. 11th Symposium on Advanced Space Technologies in Robotics and Automation, 14. April 2011, Noordwijk, Niederlande.

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Abstract

ExoMars is the first robotic mission of the Aurora program of the European Space Agency (EAS). Surface mobility (as provided by ExoMarks rover) is one of the enabling technologies necessary for future exploration missions. This work uses previouly developed mathematical models to represent an ExoMars rover operation in soft/rocky terrain. The models are used in an optimization loop to evaluate multiple objective functions affected by the change in geometrical design parameters. Several objective funktions can be used in our optimization environment powered by MOPS (Multi-Objective Parameter Synthesis). Two environments are used to simulate the rover in stability sensitive conditions and power and sinkage sensitive conditions. Finally, an ExoMars-like configuration is proposed and consistent improvemnt directions are pointed out.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:On multi-objective optimization of planetary exploration rovers applied to ExoMars-type rovers
Authors:
AuthorsInstitution or Email of Authors
Leite, Alexandre CarvalhoUNSPECIFIED
Date:2011
Journal or Publication Title:ASTRA 2011, ESA/ESTEC
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:ExoMars
Event Title:11th Symposium on Advanced Space Technologies in Robotics and Automation
Event Location:Noordwijk, Niederlande
Event Type:international Conference
Event Dates:14. April 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:18 Jul 2011 14:54
Last Modified:30 Jan 2012 11:50

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