Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers
Edward W. Tunstel · NASA STI Repository (National Aeronautics and Space Administration) · 1999
Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a proposed computational means of developing motion behaviors that achieve the autonomous recovery function. Its aim is to reduce the effort involved in developing self-righting control behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described. 1 INTRODUCTION Recent advances in micro-technology and mobile robotics have enabled the development of scientifically capable rovers of mass on the order of tens or hundreds of grams. Development of such nanorovers will permit mobility-based science sur...