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
Article (Journal)
Electronic Resource
English
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