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Affiliation of Author(s):航天学院

Journal:Qinghua Daxue Xuebao

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. © 2019, Tsinghua University Press. All right reserved.

ISSN No.:1000-0054

Translation or Not:no

Date of Publication:2019-09-01

Co-author:Leng, Shu

Correspondence Author:juhehua