Design of a Locomotion Control System for Lunar Rover with Six Conical Wheels

A lunar rover prototype with six conical wheels,with the combination of active and passive terrain adaptability,has the good capability of moving on uneven rough terrain and climbing obstacles.For the rover,a kinematics model is set up,and a TCP/IP-communication-based tele-operated locomotion control system with certain autonomy is put forward and designed.The tele-operated station computer supports the rover path planning and monitors the rover motion.The on-board locomotion control system,based on PC104 bus embedded computer and real-time Linux,resolves the tele-operated motion command,controls and drives the rover motion.The simulated field experiment shows the feasibility and stability of the rover locomotion control system.