Dynamic Modelling and Navigation of an Autonomous Lunar Rover
A P Nandagopal, Albin Santhosh, Meera R Pai, Lal Priya P.S. · 2024
The enticement of the moon has been strong since forever and humans are on the run to rise to the challenge. The idea of landing a rover on the lunar surface is a compelling possibility that humans ponder over. The existing generation of lunar rovers lean on the concept of semi-autonomy, which tends to pose challenges in the navigation domain. In this paper, a dynamic model along with a navigation system for a six-wheeled autonomous lunar rover has been proposed. The dynamic model described here is based on the bicycle model approach with the assumption of the rover having a planar motion. The navigation system proposed here is a combination of the A* algorithm and the Artificial Potential Fields algorithm. The proposed system has been analysed through experimental results and proves the efficacy of the proposed navigation algorithm.