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Terramechanics Modeling of Mars Surface Exploration Rovers for Simulation and Parameter Estimation
MIT.
MIT.
Caltech.
MIT.
Vise andre og tillknytning
2011 (engelsk)Inngår i: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference--2011: : presented at ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 28-31, 2011, Washington, D.C., New York: ASME Press, 2011, s. 805-812Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In 1997 and 2004, small wheeled robots ("rovers") landed on the surface of Mars to conduct scientific experiments focused on understanding the planet's climate history, surface geology, and potential for past or present life. Recently, the Mars Exploration Rover(MER)"Spirit"became deeply embedded in regolith at a site called Troy, ending its mission as a mobile science platform. The difficultyfaced in navigating mobile robots over sloped, rocky, and deformable terrain has highlighted the importance of developing accurate simulation tools for use in a predictive mobility modeling capacity. These simulation tools require accurate knowledge of terrain model parameters.This paperdescribes a terramechanics-based toolfor simulation of rover mobility. It also describes ongoing work toward estimation of terrain parameters of Mars soil. Copyright © 2011 by ASME.

sted, utgiver, år, opplag, sider
New York: ASME Press, 2011. s. 805-812
Emneord [en]
Climate history, Mars Exploration Rover, Predictive mobility, Rover mobility, Surface exploration, Surface of Mars, Terrain model, Terramechanics, Wheeled robot
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20852Scopus ID: 2-s2.0-84863564947ISBN: 978-079185481-5 OAI: oai:DiVA.org:hh-20852DiVA, id: diva2:586864
Konferanse
ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 28-31, 2011, Washington, D.C.
Tilgjengelig fra: 2013-01-13 Laget: 2013-01-13 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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