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- W1489945462 abstract "Abstract The creation of an effective on-board information system is a major problem for remote controlled and self-contained planetary vehicles. The key functions of such a system are to collect and process topographic information needed for motion, to classify passable and impassable sections and to choose the motion path. It is expedient to construct the information system consisting of two subsystems - the far view subsystem and the close view subsystem. The paper outlines the range of problems solved by the close view subsystem, the main function of which is to ensure the vehicle's motion safety. The vehicle's motion features linked with its stability, profile trafficability and bearing trafficability on the terrain are discussed. The authors also analyze the effect exerted on the vehicle's motion safety by the distortions of the prescribed motion due to the interaction between the driver and the surface. Motion distortion cases are illustrated by examples from the service of Lunokhod-1 and its terrestrial running mock-ups. It is concluded from the specific features of the vehicle's motion that the close view information system should consist of three subsystems: the profile trafficability forecasting subsystem, the bearing trafficability forecasting subsystem and the on-board performance estimation subsystem. The authors consider the elements of information needed to ensure the safety of the vehicle's motion, analyze some types of information sensors and the size of their visibility zones proceeding from the features of the vehicle's motion. This conclusion is made on the necessity of either to increase the visibility zone of information sensors to the limits guaranteeing safety or to control the zone of view by signals from the sensors of the on-board performance estimation subsystem. Structural schemes of motion control with different degrees of automation on board the vehicle are considered, as well as the solution of the motion safety problems, in particular during the operation of Lunokhod-1." @default.
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- W1489945462 date "1977-01-01" @default.
- W1489945462 modified "2023-09-27" @default.
- W1489945462 title "THE INFORMATION SYSTEM OF PLANETARY VEHICLES AND MOTION SAFETY PROBLEMS" @default.
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- W1489945462 doi "https://doi.org/10.1016/b978-0-08-021710-9.50032-x" @default.
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