Abstract
For planetary surface exploration, micro-rovers are very attractive to provide mobility functions at small mass requirements. This paper summarises the requirements for a Mars-rover and outlines the control concepts for navigation. In this context autonomous reaction capabilities are necessary, in combination with remote control schemes, to deal with significant signal propagation delays. Specific navigation aspects addressed in this paper include path tracking, instrument fine positioning and hazard avoidance. Finally test facilities to validate these concepts in simulations on Earth are reviewn.
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