标题：
Review of rover dynamics modeling methods
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所属单位：
航天学院
发表刊物：
Qinghua Daxue Xuebao
摘要：
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号：
1000-0054
是否译文：
否
发表时间：
2019-09-01
合写作者：
Leng, Shu
通讯作者：
居鹤华
发表时间：
2019-09-01
学位：工学博士学位
职称：教授
所在单位：航天学院