Wheel-Terrain Contact Modeling in the ROAMS Planetary Rover Simulation

Sohl, Garett A.; Jain, Abhinandan

doi:10.1115/detc2005-85620

Cited by 26 publications

(17 citation statements)

References 12 publications

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“…These mechanical soil properties are used in a dynamic wheel/soil interaction model used to determine the rover sinkage and slippage (Sohl and Jain, 2005). This model calculates and resolves the 18 forces (3 at each of the 6 wheels) of the vehicle interaction with the environment.…”

Section: High-fidelity Traversability Analysismentioning

confidence: 99%

Terrain Adaptive Navigation for planetary rovers

Helmick

Angelova

Matthies

2009

Journal of Field Robotics

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This paper describes the design, implementation, and experimental results of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav). This system was designed to enable greater access to and more robust operations within terrains of widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify surrounding terrain, predict the slippage of that terrain, and use this information in the planning of a path to the goal. This navigation system consists of several integrated techniques: goodness map generation, terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. Results from experiments with an end-to-end onboard implementation of the TANav system in a Mars analog environment are shown and compared to results from experiments with a more traditional navigation system that does not account for terrain properties.

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Section: High-fidelity Traversability Analysismentioning

confidence: 99%

Terrain Adaptive Navigation for planetary rovers

Helmick

Angelova

Matthies

2009

Journal of Field Robotics

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“…Since smooth and geometrically defined surfaces are needed for the aforementioned contact model, and at the same time, the advantages of having an essential description of irregular surfaces is highly desirable, this paper proposes to reconstruct smooth and geometrically defined portions of the surface, named patches [7], [3], [13], [11], [12]. Patches are created by interpolating only a subset of the points of the DEM in the vicinity of the contact points.…”

Section: Introductionmentioning

confidence: 99%

Digital elevation map reconstruction for port-based dynamic simulation of contacts on irregular surfaces

Wassink

Carloni

Poulakis

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a method to utilize a portbased multibody contact model for simulating dynamic interaction between irregular surfaces. The existing compliant contact model requires an analytic parametrization of the surfaces involved in the interaction, the definition of a Gauss frame in each of the contact points and initialization of the candidate contact points. The authors intend to apply this contact model for cases in which the surfaces of the 3D interacting bodies can not be described (easily) by a geometrically defined surface. Such surfaces are often represented by 3D point meshes. This implies that the surfaces of the bodies have to be reconstructed from 3D point meshes where initialization of the candidate contact points is not arbitrary.This paper proposes the reconstruction of such surfaces by means of polynomial interpolation. With the aim of having a computationally efficient simulator, the surface interpolation is restricted to small patches around the candidate contact points. To select these candidates, the proposed simulation approach is completed by using a fast (existing) collision detection algorithm. Simulation results are validating the effectiveness of the proposed modeling and simulation approach.

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“…These mechanical soil properties are used in a dynamic wheel/soil interaction model used to determine the rover sinkage and slippage [20]. This model calculates and resolves the 18 forces (3 at each of the 6 wheels) of the vehicle interaction with the environment.…”

Section: High-fidelity Traversability Analysismentioning

confidence: 99%

Terrain Adaptive Navigation for Mars Rovers

Helmick

Angelova

Livianu

et al. 2007

2007 IEEE Aerospace Conference

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Abstract-A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

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Wheel-Terrain Contact Modeling in the ROAMS Planetary Rover Simulation

Abstract: This paper describes wheel-terrain contact modeling in the ROAMS

Cited by 26 publications

References 12 publications

Terrain Adaptive Navigation for planetary rovers

Terrain Adaptive Navigation for planetary rovers

Digital elevation map reconstruction for port-based dynamic simulation of contacts on irregular surfaces

Terrain Adaptive Navigation for Mars Rovers

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