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Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration RoversTo help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.
Document ID
20150006047
Document Type
Conference Paper
External Source(s)
Authors
Trease, Brian (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Arvidson, Raymond (Washington Univ. Saint Louis, MO, United States)
Lindemann, Randel (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bennett, Keith (Washington Univ. Saint Louis, MO, United States)
Zhou, Feng (Washington Univ. Saint Louis, MO, United States)
Iagnemma, Karl (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Senatore, Carmine (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Van Dyke, Lauren (Washington Univ. Saint Louis, MO, United States)
Date Acquired
April 22, 2015
Publication Date
October 4, 2011
Subject Category
Ground Support Systems and Facilities (Space)
Lunar and Planetary Science and Exploration
Mechanical Engineering
Meeting Information
MSC Software 2011 Users Conference(Costa Mesa, CA)
Distribution Limits
Public
Copyright
Other
Keywords
terramechanics
simulation
mobility
soft-soil interaction

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