Increased interestin In-Situ Resource Utilization (ISRU) concept for lunar outpost
construction has motivated to the development of autonomous excavation rovers. The system design of two autonomous excavation rover prototypes UNEMEEP and The
Musketeers are detailed in this thesis. The problem of autonomous excavation has been
explored in the area of agriculture and mining. However, to date very little have been accomplished in the area of an autonomous excavation rover aimed towards space application. A hybrid position and admittance control strategy is implemented on
autonomous excavation rovers to achieve digging and leveling capabilities. Integration tests and a full scale multirover mission scenario were also carried out. The results from the experiments are analyzed and recommendations are made to improve upon the capabilities of the rovers.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/25746 |
| Date | 07 January 2011 |
| Creators | Law, Kenneth |
| Contributors | D'Eleuterio, Gabriele M. T. |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
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