The Rocky 7 rover: a Mars sciencecraft prototype

Author

Hayati, Samad ; Volpe, Richard ; Backes, Paul ; Balaram, J. ; Welch, Richard ; Ivlev, Robert ; Tharp, Gregory ; Peters, Steve ; Ohm, Tim ; Petras, Richard ; Laubach, Sharon

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2458

Abstract

This paper describes the design and implementation at the Jet Propulsion Laboratory of a small rover for future Mars missions requiring long traverses and rover-based science experiments. The small rover prototype, called Rocky 7, is capable of long traverses, autonomous navigation, and science instrument control. This rover carries three science instruments, and can be commanded from any computer platform from any location using the World Wide Web. In this paper we describe the mobility system, the sampling system, the sensor suite, navigation and control, onboard science instruments, and the ground command and control system. We also present key accomplishments of a recent field test of Rocky 7 in the Mojave Desert in California

Keywords

Internet; Mars; computerised navigation; mobile robots; navigation; planets; sensors; vehicles; Mars sciencecraft prototype; Rocky 7 rover; World Wide Web; autonomous navigation; mobility system; navigation; onboard science instruments; rover-based science experiments; sampling system; science instrument control; sensor suite; Aircraft navigation; Instruments; Laboratories; Mars; Propulsion; Prototypes; Sampling methods; Sensor phenomena and characterization; Sensor systems; Web sites;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619330

Filename

619330