Simulation Study of Planetary Rover ’s Static Model under Unstructured Terrain Condition
The static simulation of the planetary rover with optimal power consumption under unstructured terrain condition is described in this paper.It is based on kinematics and statics model,combined with experiment data of wheel-soil test-bed developed by ourselves.The motion state is monitored by stable angle and each wheel slip ratio.The processes of static modeling and kinematic modeling are described in detail firstly, and then computer simulations are performed which will verify the validity of the analytical methodology in this paper.This method can not only be seemed as an advance judgment of the traffic ability for rover under unstructured terrain condition,but also can be used as the design basis of the rover controller.
Ning Mao Bo su Qichang Yao Lei Jiang Hongji Xu
Changchun University of Science and Technology Changchun,Jilin Province,China China North Vehicle Re China North Vehicle Research Institute Beijing,China Changchun University of Science and Technology Changchun,Jilin Province,China
国际会议
深圳
英文
175-180
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）