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.
|ジャーナル||European Space Agency, (Special Publication) ESA SP|
|出版ステータス||Published - 2005 12 15|
|イベント||i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany|
継続期間: 2005 9 5 → 2005 9 8
ASJC Scopus subject areas