Hervé Hacot

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Recently a planetary rover returned important scientific information from Mars. More ambitious missions are planned. New planning methods are required that allow rovers to explore challenging areas with a high level of autonomy. This paper presents a planning methodology based on a physics-based model of the rover and environment. Plans are developed that(More)
Rovers will continue to play an important role in planetary exploration. Plans include the use of the rocker-bogie rover configuration. Here, models of the mechanics of this configuration are presented. Methods for solving the inverse kinematics of the system and quasi-static force analysis are described. Also described is a simulation based on the models(More)
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