An Optimizing Traction Control of Lunar Rovers

Reliable motion control is the precondition for successful accomplishment of a lunar rover's exploration tasks.In order to solve the motion control problem of lunar rover over traverse rough terrain,an optimizing traction control method from the view of lunar terrain and redundant system is proposed.A general approach to the kinematics modeling and analyses of rocker-bogie mode lunar rover traversing uneven and soft terrain is introduced;the dynamic model and quasistatic equilibrium equations are established.Finally,force optimizing distribution based on the null space method is proposed,and simulation results support the efficiency of this method.