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

Genya Ishigami, Akiko Miwa, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingChapter

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
Title of host publicationEuropean Space Agency, (Special Publication) ESA SP
EditorsB. Battrick
Pages121-128
Number of pages8
Edition603
Publication statusPublished - 2005
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

Other

Otheri- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space
CountryGermany
CityMunich
Period05/9/505/9/8

Fingerprint

Dynamic models
Wheels
Trajectories
Soils
Computer simulation

ASJC Scopus subject areas

  • Aerospace Engineering

Cite this

Ishigami, G., Miwa, A., & Yoshida, K. (2005). Steering trajectory analysis of planetary exploration rovers based on All-Wheel Dynamics Model. In B. Battrick (Ed.), European Space Agency, (Special Publication) ESA SP (603 ed., pp. 121-128)

Steering trajectory analysis of planetary exploration rovers based on All-Wheel Dynamics Model. / Ishigami, Genya; Miwa, Akiko; Yoshida, Kazuya.

European Space Agency, (Special Publication) ESA SP. ed. / B. Battrick. 603. ed. 2005. p. 121-128.

Research output: Chapter in Book/Report/Conference proceedingChapter

Ishigami, G, Miwa, A & Yoshida, K 2005, Steering trajectory analysis of planetary exploration rovers based on All-Wheel Dynamics Model. in B Battrick (ed.), European Space Agency, (Special Publication) ESA SP. 603 edn, pp. 121-128, i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Munich, Germany, 05/9/5.
Ishigami G, Miwa A, Yoshida K. Steering trajectory analysis of planetary exploration rovers based on All-Wheel Dynamics Model. In Battrick B, editor, European Space Agency, (Special Publication) ESA SP. 603 ed. 2005. p. 121-128
Ishigami, Genya ; Miwa, Akiko ; Yoshida, Kazuya. / Steering trajectory analysis of planetary exploration rovers based on All-Wheel Dynamics Model. European Space Agency, (Special Publication) ESA SP. editor / B. Battrick. 603. ed. 2005. pp. 121-128
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