Publication
Using a Rover's Active Suspension System as a 2-Axis Solar Tracker Mechanism
Georges Labrèche; Florian Cordes
In: 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '20). International Symposium on Systems, Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS-2020), October 19-23, Online-Conference, 10/2020.
Abstract
After successful completion of two 4-week field
deployments in Utah (2016) and Morocco (2018), the
SherpaTT rover is being prepared for further autonomous
long-distance traverses in terrain akin to the
Martian environment. However, it features a fueled
power generator which cannot be employed in extraterrestrial
scenarios. As the rover is meant to approach
a higher technology readiness level, a photovoltaic
power subsystem is proposed to guide future
design iterations. This paper presents the solar array
sizing, design, and integration processes considered
for two Martian mission sites: Iani Chaos at 2°S and
Ismenius Cavus at 34°N. An alternative use case for
the active suspension system is presented so that the
proposed solar arrays may be inclined and oriented
into power generating configurations that are more
favorable than those achieved with passive suspension
rovers. In the proposed scenarios, active solar
cell orientation results in traverse gains of up to 34%
and 25% for clear days at Iani Chaos and Ismenius
Cavus, respectively.