To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers


    Beteiligte:
    Trease, Brian (Autor:in) / Arvidson, Raymond (Autor:in) / Lindemann, Randel (Autor:in) / Bennett, Keith (Autor:in) / Zhou, Feng (Autor:in) / Iagnemma, Karl (Autor:in) / Senatore, Carmine (Autor:in) / Van Dyke, Lauren (Autor:in)

    Kongress:

    MSC Software 2011 Users Conference ; 2011 ; Costa Mesa, CA, United States


    Erscheinungsdatum :

    2011-10-04


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch





    Improved Path Planning Onboard the Mars Exploration Rovers

    Stentz, Anthony / Ferguson, David / Carsten, Joseph et al. | NTRS | 2007


    Global path planning on board the Mars exploration rovers

    Carsten, J. / Rankin, A. / Ferguson, D. et al. | Tema Archiv | 2007


    Global Path Planning on Board the Mars Exploration Rovers

    Carsten, Joseph / Rankin, Arturo / Ferguson, Dave et al. | IEEE | 2007


    Activity Planning for the Mars Exploration Rovers

    J. L. Bresina / A. K. Jonsson / P. H. Morris | NTIS | 2005