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

Genya Ishigami, Akiko Miwa, Kazuya Yoshida

研究成果: Conference article査読

16 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)121-128
ページ数8
ジャーナルEuropean Space Agency, (Special Publication) ESA SP
603
出版ステータスPublished - 2005 12 15
外部発表はい
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 52005 9 8

ASJC Scopus subject areas

  • 航空宇宙工学
  • 宇宙惑星科学

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