Tether tracking and control of ROSA robotic rover

Abstract: Mars is currently centre of interest for space exploration. Tremendous
efforts are still in progress to find clues of existence of life on Mars.
Rovers are major sources of information of Mars. This thesis focuses on a
robotic roving vehicle ROSA having its initiative of ESA. The 1st part of
thesis aims to test mobility system and to develop tether motors control
strategy of ROSA. The rover should be capable of executing motion commands
communicated from ground station. ROSA being a tethered rover provides
additional advantages. Power is delivered to the rover through the tether.
This gives possibility to reduce the weight/size of rover. The tether also
provides communication lines between lander and rover. A tethered robot
requires a complex control system. The 2nd part of the thesis consists of
developing a specialized tracking system for rover’s 40 m tether. The
developed system is capable of tracking within resolution of ±6 cm and can
also be used in other tethered robots for rescue, security, underwater,
autonomous vehicles, mines hunting and cleaning petroleum tanks.