An application of microprocessors to a Mars Roving Vehicle

摘要

This paper presents an approach to a microprocessor based computing system for a Mars Roving Vehicle. This represents a practical example in that it combines a breadboard robot (the Rover) with a distributed microprocessor computing system, both of which are under development at JPL and are being considered for a 1984 Mars Rover Mission. A summary of the Rover functions is presented, along with an approach of applying distributed computers. The Rover is then partitioned into its main subsystems (executive, locomotion, manipulation, and vision) and subsystem and system interfaces established. Computing requirements are discussed and a system diagram developed.