University of Surrey

Test tubes in the lab Research in the ATI Dance Research

Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers

Burroughes, G and Gao, Y (2016) Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers Journal of Aerospace Information Systems, 13 (8). pp. 316-328.

[img]
Preview
PDF (licence)
SRI_deposit_agreement.pdf
Available under License : See the attached licence file.

Download (33kB) | Preview

Abstract

Certain limitations exist in autonomous software and guidance, navigation, and control architectures developed for extraterrestrial planetary exploration rovers in regard to fault tolerance, changes in environment, and changes in rover capabilities. To address these limitations, this paper outlines a self-reconfiguring guidance, navigation, and control architecture, using an ontology-based rational agent to enable autonomous reconfiguration of mission goals, software architecture, software components, and the control of hardware components during the run time. This new architecture was evaluated through implementation onboard a rover and tested in challenging, Mars-like environments, both simulated and real world, and was found to be highly reliable, fault tolerant, and adaptable.

Item Type: Article
Subjects : Electronic Engineering
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering > Surrey Space Centre
Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
AuthorsEmailORCID
Burroughes, GUNSPECIFIEDUNSPECIFIED
Gao, YUNSPECIFIEDUNSPECIFIED
Date : 31 March 2016
Identification Number : https://doi.org/10.2514/1.I010378
Copyright Disclaimer : Copyright © 2015 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. Copies of this paper may be made for personal and internal use, on condition that the copier pay the per-copy fee to the Copyright Clearance Center (CCC). All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the ISSN 2327-3097 (online) to initiate your request
Depositing User : Symplectic Elements
Date Deposited : 02 Nov 2016 15:46
Last Modified : 02 Nov 2016 15:46
URI: http://epubs.surrey.ac.uk/id/eprint/812712

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year


Information about this web site

© The University of Surrey, Guildford, Surrey, GU2 7XH, United Kingdom.
+44 (0)1483 300800