Analysis on Rover Performances

Analysis on dynamics characteristics of
lunar/planetary exploration rover

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 ]

Dynamics Simulation 2 (Traversing)
[ Red = experiment, Blue=Simulation ]
(slope angle=10 [deg]) (2.9MB)

Comparison between experiment and simulation

--- Related papers ---

"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

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Last update April 23rd 2007

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