Application of LabView and cRIO for high precision positioning of mars rover using DC motors

M Tahir Zia, A Curley, O Duran, Omid Razmkhah

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

6 Citations (Scopus)

Abstract

Number of different techniques and algorithms has been developed to control speed and direction of the DC motor drives of unmanned vehicles for mars exploration. This paper mainly analyses and implements the techniques using LabView and compact RIO that can be interfaced together to control the speed of four DC motors to make the six wheeled mars rover with rocker-Bogie configuration able to move remotely on the mars surface. The rover chassis does not provide any mechanical steering (horizontal rotation) mechanism in either front or back side wheels to control direction of vehicle. Therefore the direction is controlled by controlling the speed of wheels independently. This work mainly focuses the interface of remote control and dc motors with a Reconfigurable Input/Output Field-Programmable Gate Array (FPGA). The complete control system is designed using LabView in real time. The speed of the mars rover can be affected by environmental changes therefore a PID controller is implemented to maintain the speed of the vehicle as desired. The feedback to the controller is provided by the incremental rotary encoder.
Original languageEnglish
Title of host publication2011 2nd International Conference on Space Technology
PublisherIEEE
ISBN (Electronic)978-1-4577-1873-1
ISBN (Print)978-1-4577-1874-8
DOIs
Publication statusPublished - 3 Nov 2011
Externally publishedYes
Event2nd International Conference on Space Technology - Royal Olympic Hotel, Athens, Greece
Duration: 15 Sep 201117 Sep 2011
Conference number: 2

Conference

Conference2nd International Conference on Space Technology
CountryGreece
CityAthens
Period15/09/1117/09/11

Fingerprint

DC motors
Wheels
Unmanned vehicles
Controllers
Chassis
Speed control
Remote control
Field programmable gate arrays (FPGA)
Feedback
Control systems

Cite this

Tahir Zia, M., Curley, A., Duran, O., & Razmkhah, O. (2011). Application of LabView and cRIO for high precision positioning of mars rover using DC motors. In 2011 2nd International Conference on Space Technology IEEE. https://doi.org/10.1109/ICSpT.2011.6064681

Application of LabView and cRIO for high precision positioning of mars rover using DC motors. / Tahir Zia, M; Curley, A; Duran, O; Razmkhah, Omid.

2011 2nd International Conference on Space Technology. IEEE, 2011.

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Tahir Zia, M, Curley, A, Duran, O & Razmkhah, O 2011, Application of LabView and cRIO for high precision positioning of mars rover using DC motors. in 2011 2nd International Conference on Space Technology. IEEE, 2nd International Conference on Space Technology, Athens, Greece, 15/09/11. https://doi.org/10.1109/ICSpT.2011.6064681
Tahir Zia M, Curley A, Duran O, Razmkhah O. Application of LabView and cRIO for high precision positioning of mars rover using DC motors. In 2011 2nd International Conference on Space Technology. IEEE. 2011 https://doi.org/10.1109/ICSpT.2011.6064681
Tahir Zia, M ; Curley, A ; Duran, O ; Razmkhah, Omid. / Application of LabView and cRIO for high precision positioning of mars rover using DC motors. 2011 2nd International Conference on Space Technology. IEEE, 2011.
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