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Proceedings Paper

Analysis of behavior based control for planetary cliff descent using cooperative robots
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Paper Abstract

Future robotic planetary exploration will need to traverse geographically diverse and challenging terrain. Cliffs, ravines, and fissures are of great scientific interest because they may contain important data regarding past water flow and past life. Highly sloped terrain is difficult and often impossible to safely navigate using a single robot. This paper describes a control system for a team of three robots that access cliff walls at inclines up to 70°. Two robot assistants, or anchors, lower a third robot, called the rappeller, down the cliff using tethers. The anchors use actively controlled winches to first assist the rappeller in navigation about the cliff face and then retreat to safe ground. This paper describes the control of these three robots so they function as a team to explore the cliff face. Stability requirements for safe operation are identified and a behavior-based control scheme is presented. Behaviors are defined for the system and command fusion methods are described. Controller stability and sensitivity are examined. Controller performance is evaluated with simulation and a laboratory system.

Paper Details

Date Published: 30 September 2003
PDF: 12 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.497844
Show Author Affiliations
Erik Mumm, Univ. of Nebraska/Lincoln (United States)
Shane Farritor, Univ. of Nebraska/Lincoln (United States)
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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