Distributed Control System for Rover Prototype

Distributed Control System for Rover Prototype
Author(s):
Sweta Prajapati, Anurag S. Verma, Jimit A Talati
Keywords:
Rover, Distributed control, multi-axis control
Abstract
For interplanetary exploration, Rovers are required. This project involves building one such rover with 'Walk and Roll’ capability. The first generation of Walk and Roll Rover has wheel on limbed being developed to implement effective control system. This rover has total 12 DoF to be controlled in real-time and needs to deal with information of multiple sensors such as encoders and hall sensors. This vehicle concept is capable of efficient rolling mobility on moderate terrain
Article Details
Unique Paper ID: 146294 Publication Volume & Issue: Volume 4, Issue 12 Page(s): 108 - 111
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