Study of A New Kind of Lunar Rover Driving and Guidance system

摘要

As the foundation of motion control, driving dynamics equations with velocity and geometric constrains are given firstly. A method to increase tractive ability and the concept of the corresponding lunar rover chassis are proposed. The simulation results are given to express the effectiveness of increasing tractive ability. A control method was suggested which combined drive and guidance system to form a closed control system and an observer will work out the skid values and wheel-terrain contact parameters by using the measured data of passed route of lunar rover''s mass center. This method ensures more accurate and safely movement and increase driving control quality