SRC2 Rover |
This is the third in a series of post about my involvement with the qualifying round of the NASA Space Robotics Challenge - Phase 2 (SRC2). The first post introduced the basics of the competition. One aspect of the challenge is there is no controller for the rover depicted to the right. It uses Explicit Four Wheel Steering which allows the orientation of the wheels to be independently changed. This provides multiple ways for the rover to move, e.g. straight, crab, turn, pivot.
The second post explored the geometry on positioning the wheels for a turn. This post will address pivoting in place and crab movement, i.e. moving sideways. It also addresses the trivial crab case of moving straight forward or back.