Design and experimental validation of a mobile robot platform for analog planetary exploration

This paper presents the design and experimental validation of a modular robotic platform for planetary exploration. A rover, ORYX 2.0, is designed and developed to serve as a research platform that can transport payloads over rough terrain. Field testing is conducted to evaluate the mobility potential of ORYX 2.0´s passive kinematic suspension. Data from field testing is analyzed to identify the wheel velocities over rough terrain when straight line trajectories are desired. A simulation tool is used to estimate the terrain profile, using the 3-axis orientation data and angle of the rocking suspension. The approach used in estimating terrain profiles can effectively be used to improve the rover performance for trajectory tracking control.