On multi-objective optimization of planetary exploration rovers applied to ExoMars-type rovers

摘要

ExoMars is the first robotic mission of the Aurora program of the European Space Agency (ESA). Surface mobility (as provided by ExoMars rover) is one of the enabling technologies necessary for future exploration missions. This work uses previously developed mathematical models to represent an ExoMars rover operating in soft/rocky terrain. The models are used in an optimization loop to evaluate multiple objective functions affected by the change in geometrical design parameters. Several objective functions can be used in our optimization environment powered by MOPS (Multi-Objective Parameter Synthesis). Two environments are used to simulate the rover in stability sensitive conditions and power and sinkage sensitive conditions. Finally, an ExoMars-like configuration is proposed and consistent improvement directions are pointed out.