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Intelligent Excavator Control System for Lunar Mining System
Paul J. A. Lever; Fei-Yue Wang
Source PublicationJournal of Aerospace Engineering
A major benefit of utilizing local planetary resources is that it reduces the
need and cost of lifting materials from the Earth's surface into Earth orbit. The location
of the moon makes it an ideal site for harvesting the materials needed to assist space
activities. Here, lunar excavation will take place in the dynamic unstructured lunar environment,in which conditions are highly variable and unpredictable. Autonomous mining
(excavation) machines are necessary to remove human operators from this hazardous
environment. This machine must use a control system structure that can identify, plan,
sense, and control real-time dynamic machine movements in the lunar environment. The
solution is a vision-based hierarchical control structure. However, excavation tasks require
force/torque sensor feedback to control the excavation tool after it has penetrated
the surface. A fuzzy logic controller (FLC) is used to interpret the forces and torques
gathered from a bucket mounted force/torque sensor during excavation. Experimental
results from several excavation tests using the FLC are presented here. These results
represent the first step toward an integrated sensing and control system for a lunar mining
KeywordLunar Mining System
Document Type期刊论文
Recommended Citation
GB/T 7714
Paul J. A. Lever,Fei-Yue Wang. Intelligent Excavator Control System for Lunar Mining System[J]. Journal of Aerospace Engineering,1995,8(1):16-24.
APA Paul J. A. Lever,&Fei-Yue Wang.(1995).Intelligent Excavator Control System for Lunar Mining System.Journal of Aerospace Engineering,8(1),16-24.
MLA Paul J. A. Lever,et al."Intelligent Excavator Control System for Lunar Mining System".Journal of Aerospace Engineering 8.1(1995):16-24.
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