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Methods for Improving Long‐Range Wireless Communication between Extreme Terrain Vehicles

Johnson, Paul V. and Zarzhitsky, Dimitri (2012) Methods for Improving Long‐Range Wireless Communication between Extreme Terrain Vehicles. Jet Propulsion Laboratory , Pasadena, CA. (Unpublished)

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Axel is an extreme terrain, two-wheeled rover designed to traverse rocky surface and sub-surface landscapes in order to conduct remote science experiments in hard-to-reach locations. The rover's design meets many requirements for a mobile research platform capable of reaching water seeps on Martian cliff sides. Axel was developed by the Mobility and Robotic Systems section at the Caltech Jet Propulsion Laboratory. Unique design criteria associated with extreme terrain mobility led to a unique rover solution, consisting of a central module, which provides long-term energy storage and space for large-scale science payloads, and two detachable Axels that can detach and explore extreme terrain locations that are inaccessible to conventional rovers. The envisioned mission could involve a four-wheeled configuration of Axel called 'DuAxel' that is able to traverse the benign, flattened terrain of a landing site and approach the edge of the targeted crater or cave where it would deploy anchoring legs and detach one of the Axel rovers [1]. A tether provides a secure link between the Axel rover and the central module, acting as an anchor to allow Axel to descend along steep crater walls to collect data from the scientifically relevant sites along the water seeps or crater ledges. After completing its scientific mission Axel would hoist itself up to the central module and dock autonomously (using its on-board stereo cameras), allowing the once-again recombined DuAxel to travel to another location to repeat data collection.

Item Type:Report or Paper (Technical Report)
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Additional Information:This research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, and was sponsored in part by the Keck Institute for Space Studies and the Space Grant program from the National Aeronautics and Space Administration.
Group:Keck Institute for Space Studies
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Keck Institute for Space Studies (KISS)UNSPECIFIED
Record Number:CaltechAUTHORS:20160301-163608558
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:64937
Deposited By: Colette Connor
Deposited On:02 Mar 2016 22:35
Last Modified:03 Oct 2019 09:42

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