ROSTDyn: Rover simulation based on terramechanics and dynamics |
| |
| Institution: | 1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410072, China;2. College of Systems Engineering, National University of Defense Technology, Changsha 410072, China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. Department of Aerospace Engineering, Ryerson University, Toronto, Ontario M5B 2K3, Canada;1. University of Alaska Fairbanks, Institute of Northern Engineering, P.O. Box 755910, Fairbanks, AK 99775-5910, USA;2. Massachusetts Institute of Technology, Robotic Mobility Group, Laboratory for Manufacturing and Productivity, 77 Massachusetts Ave., Cambridge, MA 02139, USA;3. Washington University in St. Louis, Campus Box 1169, One Brookings Dr., St. Louis, MO 63130, USA;4. NASA Ames Research Center, MS 245-3, Moffett Field, CA 94035-1000, USA |
| |
| Abstract: | In recent years, rover-based planetary exploration missions have induced some new challenges related to both the speed and the fidelity of rover simulation. This paper introduces ROSTDyn (rover simulation based on terramechanics and dynamics), a good-fidelity (in a linear motion without side forces and related torques), real-time (with an Intel Core2 CPU and ATI Radeon HD 4650 GPU) simulation platform for planetary rovers developed using C++ on the basis of the Vortex physics engine. The inherent trade-off between high fidelity and high speed is overcome by using an improved and simplified terramechanics model and Vortex. This paper presents the key technologies and algorithms constituting ROSTDyn, including the creation of the rover model and terrain model, computation of contact-area parameters, computation of interactive force/torque model, and ROSTDyn’s implementation. Speed tests confirm that ROSTDyn can perform a real-time simulation when the display frequency is less than 45 Hz and the computation frequency is less than 450 Hz. A comparison of the simulation and experiment results for an example involving a six-wheel rover climbing a series of slopes confirms the good fidelity of ROSTDyn. |
| |
| Keywords: | Rover simulation Real time Good fidelity Terramechanics |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
