2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)
DOI: 10.1109/aero.2004.1367686
|View full text |Cite
|
Sign up to set email alerts
|

Recent developments in the ROAMS planetary rover simulation environment

Abstract: ponents of the robotic vchicle mechanical subsystem, senson, on-board control software, as well as the environment This paper describes recent developments in the ROAMS and terraidvehicle interactions. ROAMS provides interfaces physics-based simulator for planetary surface exploration to close many different rover control loops ranging from rover vehicles. ROAMS includes models for various subsys-IOW level motor control, locomotion estimation and control, tems and components of the vehicle including its mechan… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1
1
1

Citation Types

0
52
0
1

Publication Types

Select...
4
3
2

Relationship

0
9

Authors

Journals

citations
Cited by 60 publications
(53 citation statements)
references
References 8 publications
0
52
0
1
Order By: Relevance
“…More importantly model configurations are limited to on-road vehicles like cars and trucks. JPL developed Rover Analysis, Modeling, and Simulation (ROAMS) software to model the full dynamics of the Mars Exploration Rovers, including wheel/soil slippage/sinkage interaction [13]. While ROAMS was helpful for design evaluation, it was not feasible for use in motion planning.…”
Section: Related Workmentioning
confidence: 99%
“…More importantly model configurations are limited to on-road vehicles like cars and trucks. JPL developed Rover Analysis, Modeling, and Simulation (ROAMS) software to model the full dynamics of the Mars Exploration Rovers, including wheel/soil slippage/sinkage interaction [13]. While ROAMS was helpful for design evaluation, it was not feasible for use in motion planning.…”
Section: Related Workmentioning
confidence: 99%
“…It is beyond the scope of this paper to discuss this algorithm in detail, and the focus of this section is how the path planner fits into the system. Section 6 explains the high-fidelity traversability analysis (HFTA) algorithm, which uses a sophisticated kinematic and dynamic forward simulation [10] of the rover following a path. It is designed to calculate a more accurate and realistic cost to traverse that path.…”
Section: Figure 1 Rocky8 In the Jpl Mars Yardmentioning
confidence: 99%
“…• ROAMS (Yen, Jain & Balaram, 1999;Jain et al, 2004) is an advanced simulation tool as well. It has similar features like RCAST.…”
Section: Existing Softwarementioning
confidence: 99%