Terramechanics Model and Motion Control Strategy Simulation for down-Slope Travel of a Lunar Rover

Wei Dong Huang; Jin Song Bao; You Sheng Xu

doi:10.4028/www.scientific.net/AMM.215-216.1291

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 215-216Terramechanics Model and Motion Control Strategy...

Terramechanics Model and Motion Control Strategy Simulation for down-Slope Travel of a Lunar Rover

Abstract:

Slopes are a typical terrain of the rugged lunar surface. Using a modified model for wheel-terrain interaction, a terramechanics model for down-slope travel of a lunar rover is established. In order to describe the soil sinkage of different wheels more accurately, soil deformation by the front wheels is taken into account and the front and rear wheel sinkages are calculated separately. Finally, a motion control strategy for rover descent is proposed based upon analysis of its descending course, and validated by simulation in a 3D lunar rover visual simulation platform.

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Periodical:

Applied Mechanics and Materials (Volumes 215-216)

Pages:

1291-1297

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.215-216.1291

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Online since:

November 2012

Authors:

Wei Dong Huang, Jin Song Bao, You Sheng Xu

Keywords:

Down-Slope Travel, Lunar Rover, Motion Control Strategy, Terramechanics Model

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