Path Planning, Control and Optimization for Differential Drive Space Exploration Rover (DDSER)

Abstract

Space exploration rovers, one of the most important tools in today's exploration studies, are designed to obtain scientific data by examining the surfaces of different planets and to seek answers to questions of great importance to humanity. In this study, a controller with nonlinear governing equations and path planning are carried out on advanced avionic systems for difficult conditions in order to autonomously select the shortest path at a desired trajectory and speed for a differentially driven space exploration rover. While the rover leaves its traces on the difficult surfaces of different planets, it undertakes many important tasks from the analysis of geological formations to the potential traces of life. Differential drive allows these rovers to move flawlessly even on rough surfaces without making sharp turns. It is observed that the RRT algorithm can be used in the implementation of path planning, unlike other path planning algorithms, to reach the target in a shorter time. This opens the door to new scientific understandings by carrying space exploration to previously inaccessible areas.