Dynamic Simulation of Planetary Rovers with Terrain Property Mapping
Huaiguang Yang, Liang Ding, Haibo Gao, Lan Huang, Junlong Guo, Chao Chen, Zongquan Deng
Abstract
Simulation of planetary rovers moving on complex terrains is critical for Mars exploration. Equivalent stiffness is proposed and used to characterize the pressure-sinkage property of terrain, while friction angle to characterize the shearing property. Terramechanics model for calculating forces between rigid wheel and soil is proved to be the same with that contact model for calculating forces between rigid wheel and rock. A Digital Elevation Map with Physical Properties is developed and applied to simulate terrain physical properties along with its geometry information. The established methods are validated using simulation and experimental tests with a three-wheel-rover.
BibTeX
@inproceedings{icra2018_dynamicsimulatio,
title = {Dynamic Simulation of Planetary Rovers with Terrain Property Mapping},
author = {Huaiguang Yang and Liang Ding and Haibo Gao and Lan Huang and Junlong Guo and Chao Chen and Zongquan Deng},
booktitle = {ICRA 2018},
year = {2018}
}