hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Dynamic Modeling And Soil Mechanics For Path Planning Of Mars Exploration Rovers
Caltech, Jet Propulsion Laboratory, Pasadena, CA, United States.
Washington University, St. Louis, MO, United States.
Caltech, Jet Propulsion Laboratory, Pasadena, CA, United States.
Washington University, St. Louis, MO, United States.
Show others and affiliations
2011 (English)In: Proceedings of the ASME International Design Engineering Technical Conference, New York: ASME Press, 2011, 755-765 p.Conference paper, Published paper (Refereed)
Abstract [en]

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. Copyright © 2011 by ASME.

Place, publisher, year, edition, pages
New York: ASME Press, 2011. 755-765 p.
Keyword [en]
ARTEMIS, Computer-based models, Deformable soil, Digital Elevation Map, Drop test, High resolution, Lunar rovers, Mars Exploration Rover, Mars Exploration Rover projects, Modeling softwares, Multi-disciplinary teams, Soil property, Telemetry data, Terramechanics
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20853Scopus ID: 2-s2.0-84863584506ISBN: 978-079185483-9 OAI: oai:DiVA.org:hh-20853DiVA: diva2:586865
Conference
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011, Washington, DC, USA, 28-31 August, 2011
Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2013-02-25Bibliographically approved

Open Access in DiVA

No full text

Scopus

Search in DiVA

By author/editor
Iagnemma, Karl
Robotics

Search outside of DiVA

GoogleGoogle Scholar

Total: 84 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf