Centre-of-gravity control for a Mars Rover chassis with multiple degrees of freedom

This work presents a centre-of-gravity (CoG) controller which aims to increase rover mobility over step obstacles.; The controller is based on a new concept presented here, the Contact-Angle Adjusted Support Pattern (or CAASP). The CAASP utilizes wheel-ground contact angles to place the CoG such that weight acting on wheels encountering difficult local terrain is reduced.; Implementing the CoG controller in simulation showed dramatic improvements in step-climbing ability. The CoG controller was able to increase the height of obstacle surmountable from hard ground by a factor of 2 to 3 (to heights as much as 30 cm), and increase the height surmountable from soil by 30% to 40%. To improve step-climbing results on soil further, traction control would be needed in addition to the CoG controller.; The CoG controller presented here is particularly effective for step climbing rovers whose wheels all maintain contact with the ground at all times.