Advertisement

System Design and Control of a Di-Wheel Rover

  • John KoleoshoEmail author
  • Chakravarthini M. Saaj
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)

Abstract

Traditionally, wheeled rovers are used for planetary surface exploration and six-wheeled chassis designs based on the Rocker-Bogie suspension system have been tested successfully on Mars. However, it is difficult to explore craters and crevasses using large six or four-wheeled rovers. Innovative designs based on smaller Di-Wheel Rovers might be better suited for such challenging terrains. A Di-Wheel Rover is a self - balancing two-wheeled mobile robot that can move in all directions within a two-dimensional plane, as well as stand upright by balancing on two wheels.

This paper presents the outcomes of a feasibility study on a Di-Wheel Rover for planetary exploration missions. This includes developing its chassis design based on the hardware and software requirements, prototyping, and subsequent testing. The main contribution of this paper is the design of a self-balancing control system for the Di-Wheel Rover. This challenging design exercise was successfully completed through extensive experimentation thereby validating the performance of the Di-Wheel Rover. The details on the structural design, tuning controller gains based on an inverted pendulum model, and testing on different ground surfaces are described in this paper. The results presented in this paper give a new insight into designing low-cost Di-Wheel Rovers and clearly, there is a potential to use Di-Wheel Rovers for future planetary exploration.

Keywords

Di-Wheel rover Inverted pendulum Control system Planetary exploration 

Notes

Acknowledgements

A special thanks to the University of Surrey lab technicians John Mouat, Alexander Todd, Steve Mills, and Andy Walker for their help and assistance with obtaining the equipment required for this study.

References

  1. 1.
    Willetts, D.: Eight great technologies, GOV.UK (2013). https://www.gov.uk/government/speeches/eight-great-technologies. Accessed 22 Apr 2019
  2. 2.
    Krotkov, E., Simmons, R., Whittaker, W.: Ambler: performance of a six-legged planetary rover. Acta Astronaut. 35(1), 75–81 (1995)CrossRefGoogle Scholar
  3. 3.
    “Mars Pathfinder – NASA Facts”, Jpl.nasa.gov. https://www.jpl.nasa.gov/news/fact_sheets/mpf.pdf. Accessed 22 Apr 2019
  4. 4.
    Ferreira, E., Tsai, S., Paredis, C., Brown, H.: Control of the Gyrover: a single-wheel gyroscopically stabilized robot. Adv. Robot. 14(6), 459–475 (2000)CrossRefGoogle Scholar
  5. 5.
    Matson, J.: Unfree spirit: NASA’s mars rover appears stuck for good. Sci. Am. 302(4), 16 (2010)CrossRefGoogle Scholar
  6. 6.
    Comin, F.J., Saaj, C.M.: Models for slip estimation and soft terrain characterization with multilegged wheel–legs. IEEE Trans. Rob. 33(6), 1438–1452 (2017)CrossRefGoogle Scholar
  7. 7.
    Kamen, D.L., et al.: Personal mobility vehicles and methods. US Patent 6,367,817, filed on 10 August 2000 and patented on 9 April 2002. Asignee: DEKA Products, Limited Partnership, Manchester, New HampshireGoogle Scholar
  8. 8.
    Christensen,B.: Meet Jaluro, A Two-Wheeled Open-Source Lunar Rover, Space.com (2004). https://www.space.com/6359-meet-jaluro-wheeled-open-source-lunar-rover.html. Accessed 22 Apr 2019
  9. 9.
    Khaled, M., Ibraheem, M., Omar, A., Moukarrab, R.: Balancing a two wheeled robot. Minia University, Faculty of Engineering, Computers and Systems Dept., pp. 11–12 (2009)Google Scholar
  10. 10.
    “How Does a PID Controller Work? – Structure & Tuning Methods”, ElProCus – Electronic Projects for Engineering Students. https://www.elprocus.com/the-working-of-a-pid-controller/. Accessed 22 Apr 2019
  11. 11.
    Franklin, G., Powell, J., Emami-Naeini, A.: Feedback Control of Dynamic Systems, pp. 182–212. Pearson, Upper Saddle River (2006)zbMATHGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Surrey Space Centre, Department of Electrical and Electronic EngineeringUniversity of SurreyGuildfordUK

Personalised recommendations