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Evolution of autonomous self-righting behaviors for articulated nanorovers
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Tunstel, Edward |
| Copyright Year | 1999 |
| Description | 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 computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting 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. |
| File Size | 597394 |
| Page Count | 7 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20000064075 |
| Archival Resource Key | ark:/13960/t9x111t2h |
| Language | English |
| Publisher Date | 1999-01-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics, Artificial Intelligence And Robotics Planetary Evolution Automatic Control Autonomy Planetary Surfaces Solar System Evolution Planetary Systems Roving Vehicles Mars Exploration Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
