The research on control of lunar rover with rocker bogie based on bus network driving

This research analysis mechanism of multi-wheel corresponding driven and steady driven of lunar rover with 6 wheels and rocker bogie based on its characterization of mechanical configuration and based on principle of traditional multi-wheels driven, using the CAN bus, we construct a distributed motion control network as a kernel of whole control system of rover. The bus network motion control unit adopts uniform interface, uniform hardware body and this unit has characteristics of modularization, easy to reconfiguration and high integration. The distributed motion control system based on this unit can decrease the complexity of wiring of robot and improve flexibility of programming of main computer of rover. Using wheel operation modes, motion performance of rover is analyzed in 3 different driving modes on smooth and rough terrain. According to the mechanical configuration of rover, operations modes of wheel and principle of speed matching of wheels, we presents a adaptive coordinated control algorithm of multi-wheels independent driven on rough terrain. Through the experiments of obstacle overcoming, climbing, moving on cross-hill in soft soil and spot turning, it shows this rover has good transportation performance, the distributed motion control system base CAN bus has a good performance and high reliability and the adaptive coordinated control algorithm is validity.