Mobility and Autonomous Systems for a Lunar/Planetary Exploration Rover based on a Stochastic Approach

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In this research project, a statistical mobility prediction method for an exploration rover traveling in uncertain terrain has been elaborated. This method explicitly considers uncertainty of the terrain physical parameters, and employs models of both vehicle dynamics and wheel-terrain interaction mechanics. Additionally, an autonomous mobility framework for a rover, including a terrain mapping, a path planning, and its navigation has been developed in this research. The validity of the framework has been confirmed through field experiments with a rover test bed.