IMPROVING THE CONTROL SYSTEMS FOR DESERT MINERAL EXPLORATION ROVERS AND MODELING OF FRICTION AND SLIP

Document Type : Original Article

Authors

1 Mechatronics Engineering Department, Higher Institute of Engineering and Technology, New Minia, EGYPT.

2 Mechatronics Engineering Department, Higher Institute of Engineering and Technology, New Minia, EGYPT

Abstract

Exploration rovers are the optimal solutions for a well-structured environment like roads or flat and regular terrain. In the present work, A smart control system that helps the rover adjust its wheel motion in real-time depending on how much it is slipping is discussed. The friction and slip for desert mineral exploration rovers wheels was investigated. Slip and velocity and their effect on friction were investigated. The friction coefficient values ​​obtained from previous documented experimental results are used as input data for the simulation model to achieve the same properties. Based on the results, it was found that the proposed friction model and control system improves the rover’s performance and makes it more reliable for such tasks. The rover keeps good traction, saves energy, and stays stable while moving. The need of autonomous robots that can move efficiently and safely in difficult environments.

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