Preliminary assessment of a small robotic rover for Titan exploration |
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| Authors: | Giancarlo Genta Alessandro Genta |
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| Institution: | 1. Politecnico di Torino, Torino, Italy;2. AMET Italy, Torino, Italy;1. School of Chemical and Environmental Engineering, Soochow University, Suzhou, Jiangsu Province, People''s Republic of China;2. Applied and Industrial Mathematics Research Group, School of Physical, Environmental and Mathematical Sciences, University of New South Wales, Canberra, ACT 2600, Australia;3. School of Mathematics and Applied Statistics, University of Wollongong, Northfields Avenue, Wollongong, NSW 2522, Australia;1. Kutateladze Institute of Thermophysics SB RAS (IT SB RAS), 1 Lavrentyev Ave., Novosibirsk 630090, Russia;2. Novosibirsk State Technical University (NSTU), 20 Marks Ave., Novosibirsk 630073, Russia;1. University of Alaska Fairbanks, Institute of Northern Engineering, P.O. Box 755910, Fairbanks, AK 99775-5910, USA;2. NASA Glenn Research Center, 21000 Brookpark Road, Cleveland, OH 44135, USA;3. NASA Ames Research Center, MS 245-3, Moffett Field, CA 94035-1000, USA;1. Jiangsu Key Laboratory of Urban and Industrial Safety, College of Safety Science and Engineering, Nanjing Tech University, Nanjing, Jiangsu, 211816, China;2. Institute of Fire Science and Engineering, Nanjing Tech University, Nanjing, Jiangsu, 211816, China;3. Department of Civil Engineering, Technical University of Denmark, Kongens Lyngby, 2800, Denmark;4. School of the Environmental and Safety Engineering, Changzhou University, Changzhou, Jiangsu, 213164, China;5. China Southern Power Grid Extra High Voltage Power Transmission Company Wuzhou Branch, Wuzhou, Guangxi, 543002, China;6. School of Civil Engineering, Central South University, Changsha, Hunan, 410075, China;1. School of Environment and State Key Joint Laboratory of Environment Simulation and Pollution Control, Tsinghua University, Beijing 100084, PR China;2. School of International Trade and Economics, University of International Business and Economics, Beijing 100029, China;3. School of Economics and Management, Beijing University of Chemical Technology, Beijing 100029, China |
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| Abstract: | Titan is a very interesting target in deep space exploration. With its solid surface on which a rover can easily travel and its methane lakes which can be sailed it is the ideal target for a deep space mission which includes a mobile platform. In the present paper the general layout of a rover for a mission to Titan is studied, dealing with the mobility, power generation and trajectory control issues. A four-wheels configuration with slip steering was chosen; to compare this solution with the more conventional strategy based on steering wheels, simulations were performed on some trajectories computed through the well known ‘potential’ method, using both slip steering and conventional steering control, for different vehicle speeds. The comparison between the simulated trajectories allows to state the adequateness of the proposed approach.The results here obtained apply not only to a future mission to Titan, but also to other missions designed for the exploration of the satellites of the outer planets having a size comparable with that of Titan and the largest Kuiper belt objects like Pluto and 136472 Makemake. |
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