Reconfigurable autonomy for future planetary rovers.
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Burroughes, Guy (2017) Reconfigurable autonomy for future planetary rovers. Doctoral thesis, University of Surrey.
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Abstract
Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.
| Item Type: | Thesis (Doctoral) | ||||||||
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| Divisions : | Theses | ||||||||
| Authors : |
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| Date : | 31 August 2017 | ||||||||
| Funders : | Surrey Space Centre | ||||||||
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| Depositing User : | Guy Burroughes | ||||||||
| Date Deposited : | 07 Sep 2017 08:47 | ||||||||
| Last Modified : | 31 Oct 2017 19:25 | ||||||||
| URI: | http://epubs.surrey.ac.uk/id/eprint/841812 |
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