Slopes are a typical terrain of the rugged lunar surface. Using a modified model for wheel-terrain interaction, a terramechanics model for down-slope travel of a lunar rover is established. In order to describe the soil sinkage of different wheels more accurately, soil deformation by the front wheels is taken into account and the front and rear wheel sinkages are calculated separately. Finally, a motion control strategy for rover descent is proposed based upon analysis of its descending course, and validated by simulation in a 3D lunar rover visual simulation platform.
Terramechanics Model and Motion Control Strategy Simulation for down-Slope Travel of a Lunar Rover
Applied Mechanics and Materials ; 215-216 ; 1291-1297
2012-11-12
7 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Terramechanics of a Micro Lunar Rover
ASCE | 2004
|Terramechanics of a Micro Lunar Rover
British Library Conference Proceedings | 2004
|Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover
British Library Conference Proceedings | 2006
|ROSTDyn: Rover simulation based on terramechanics and dynamics
Online Contents | 2013
|