Multi Sensor Fusion and 2 D State Estimation of Lunar Rover Ander Solorzano

This paper presents the methodology for designing and simulating a motion control algorithm for a Tyrolean-based descent and traversal robotic platform. A PID controller is developed which can perform a variety of traversal scanning trajectories including pulse and sine wave. The desired trajectory of the robot is first created using MATLAB and then utilized to set the velocities of each of the motors with respect to time. The path planning algorithm is modular and can be easily changed depending on the environmental constraints. The control algorithm deployed on the physical platform will then read the time v. velocity vector for each of the motors and compute the error between the ideal and the measurement to rectify its path trajectory. The parameters of a simulated plant model with a respectable uniform noise were used to calculate the desired PID gains of the motors. Simulation demonstrated that a stable controller with 5.82% overshoot, a settling time of 3.2 seconds, and control effort gain of 0.937 is achievable. The sampling rate of the discretized system done in the simulation is 0.005 seconds. A simulation for various velocities was performed to observe the steady state response of the controller. Keywords—Tyrolean, PID, sky moonlight, moon, simulation, survey, discrete-time