Mobile System Design and Key Control Technology of High-Speed Unmanned Planetary Rover

With the development of deep space exploration, various new exploration missions such as multi-point sampling on the Martian surface and site selection of lunar base put forward higher requirements for the driving distance and efficiency of unmanned planetary rovers. The realization of the high speed of unmanned planetary rovers has become a key way to improve the planetary surface exploration ability. The purpose of this review is to explore the engineering requirements and development direction of the high-speed unmanned planetary rover mobile system. First, the advantages of high-speed exploration in planetary missions are clarified, and the challenges and coping strategies brought by speed improvement are analyzed. Second, the mobile systems are classified and compared, covering elastic, flexible, passive and rigid suspensions based on the existing planetary rover and typical design schemes, and the research progress in high-speed rover design is reviewed. Meanwhile, the key control technologies needed to improve the high-speed driving performance of the planetary rover are systematically summarized, including trajectory tracking, coordinated control, suspension and body control. The technical difficulties and engineering solutions introduced in this review are intended to provide reference for the mobile system design and controller development of a high-speed unmanned planetary rover.