Steering trajectory analysis of planetary exploration rovers based on All-Wheel Dynamics Model

Genya Ishigami, Akiko Miwa, Kazuya Yoshida

Research output: Contribution to journalConference article

15 Citations (Scopus)

Abstract

This paper describes a steering trajectory analysis for planetary exploration rovers. Analysis of the steering trajectory is an important issue in order to plan and control the motion maneuvers of a planetary rover. Since a rover might easily slip and skid on loose soil, it is difficult to estimate and analyze the motion of the rover or the behavior of its wheels. The authors developed a model that respects the dynamics of each wheel's slip and skid behavior in order to deal with the steering trajectory of the rover. The developed model is called All-Wheel Dynamics Model. In the all-wheel dynamics model, the behavior of each wheel on loose soil is modeled based on terramechanics. The steering trajectory of the rover is obtained by a numerical simulation using the wheel-and-vehicle dynamics model. The proposed model is able to correspond to the experimental results with reasonable precision.

Original languageEnglish
Pages (from-to)121-128
Number of pages8
JournalEuropean Space Agency, (Special Publication) ESA SP
Issue number603
Publication statusPublished - 2005 Dec 15
Externally publishedYes
Eventi- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany
Duration: 2005 Sep 52005 Sep 8

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

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