Analysis on dynamics characteristics of
lunar/planetary exploration rover
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This research addresses the analysis on the performance of the rover such as slope-climbing/traversing capabilities and steering characteristics by using the test fields covered with simulated lunar surface soil (see below figures).
These characteristics are evaluated based on the terramechanics-based wheel model
Further, the dynamics simulator for the rover has been developed to analyze/estimate dynamic behaviors of a rover on challenging terrain. In this simulation, contact forces on each wheel of the rover is sufficiently addressed by using wheel-soil interaction model. |
(The following figures are clickable.)
Slope-climbing test (slope angle=21 [deg]) (22.4MB) |
Slope-traversing test (slope angle=20 [deg]) (7.7MB) |
Dynamics Simulation 1 (Steering) [ Red = experiment, Blue=Simulation ] (5.6MB) |
Dynamics Simulation 2 (Traversing) [ Red = experiment, Blue=Simulation ] (slope angle=10 [deg]) (2.9MB) |
Comparison between experiment and simulation
--- Related papers ---
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"Terramechanics-Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil" The Journal of Field Robotics, Volume 24, Issue 3, pp. 233-250. G.Ishigami, A.Miwa, K.Nagatani and K.Yoshida [8] "Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover" The 25th International Symposium on Space Technology and Science (ISTS 2006), Kanazawa, Japan, June 2006 G.Ishigami, A.Miwa, K.Nagatani and K.Yoshida [7] "Steering Trajectory Analysis of Planetary Exploration Rovers Based on All-Wheel Dynamics Model" The 8th Int. symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2005), Munich Germany September 2005 G.Ishigami, A.Miwa and K.Yoshida [6] "Steering Characteristics of an Exploration Rover on Loose Soil Based on All-Wheel Dynamics Model" 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Alberta, Canada, August 2005 G.Ishigami and K.Yoshida |