Antarctica rover design and optimization for limited power consumption ...

• Main Authors: Lachat, Daisy, Krebs, Ambroise, Thueer, Thomas, Siegwart, Roland
• Format: Text
• Language: English
• Published: ETH Zurich 2006
• Subjects: Rover; Design; Antarctica; Locomotion; Power consumption; Optimization; Modelling; infoeu-repo/classification/ddc/621.3; Electric engineering; Antarc*
• Online Access: https://dx.doi.org/10.3929/ethz-a-010043495; http://hdl.handle.net/20.500.11850/289343

The design process of the new locomotion platform called K11 aims at obtaining a rover capable of traveling thousands of kilometers at 1 m/s in the harsh environment of Antarctica during summer and carrying a 100 kg payload. A model including the drive-train power consumption and masses is used to optimize the parameters of the rover in order to minimize the power consumption. The obtained configuration consumes theoretically only 58W on flat ground and has limited power consumption while climbing a slope. The prototype built based on the optimization results is used to confirm the model. ... : IFAC Proceedings Volumes, 39 (16) ...