Review of rover dynamics modeling methods

LENG Shu; JU Hehua

doi:10.16511/j.cnki.qhdxxb.2019.26.010

Journal of Tsinghua University(Science and Technology) ›› 2019, Vol. 59 ›› Issue (9) : 689-698. DOI: 10.16511/j.cnki.qhdxxb.2019.26.010

AEROSPACE AND ENGINEERING MECHANICS

Review of rover dynamics modeling methods

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Abstract

Modeling of rover dynamics in real-time is key to controlling a rover for planetary exploration. The rover is typically modeled as a rigid body system because of its slow movement and the bogie-rocker structure. This paper introduces various rigid body dynamics analysis approaches and the advantages and disadvantages of these algorithms. Terramechanics is used to describe of the external forces on the rover system. The steel wheel and soft soil model is shown to be the most suitable model for describing the dynamics for real-time modeling of the rover dynamics.

Key words

deep space exploration / rover / multibody / dynamics modeling / terramechanics

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LENG Shu, JU Hehua. Review of rover dynamics modeling methods[J]. Journal of Tsinghua University(Science and Technology). 2019, 59(9): 689-698 https://doi.org/10.16511/j.cnki.qhdxxb.2019.26.010

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