Use this URL to cite or link to this record in EThOS: http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.723064
Title: Reconfigurable autonomy for future planetary rovers
Author: Burroughes, Guy
Awarding Body: University of Surrey
Current Institution: University of Surrey
Date of Award: 2017
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Abstract:
Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.
Supervisor: Gao, Yang Sponsor: Surrey Space Centre
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID: uk.bl.ethos.723064  DOI: Not available
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