Terrain Modeling and Simulation of a Tumbleweed Rover Traversing Martian Rock Fields

Autor:	Alexandre E. Hartl, Andre P. Mazzoleni
Rok vydání:	2012
Předmět:	Martian Traverse business.industry Monte Carlo method Mode (statistics) Aerospace Engineering Tumbleweed Terrain Astrobiology Terrain modeling Space and Planetary Science Collision detection Aerospace engineering business Geology
Zdroj:	Journal of Spacecraft and Rockets. 49:401-412
ISSN:	1533-6794 0022-4650
DOI:	10.2514/1.a32132
Popis:	A tumbleweed rover is a spherical wind-driven vehicle designed to negotiate harsh Martian terrain while searching for areas of scientific interest. This papermodelsMartian rock fields and analyzes the rover’s dynamics on these terrains. Computational procedures are established for creating randomized Martian rock fields based on statisticalmodels. Optimization techniques allow for terrain generation to coincidewith the rover’smotion, reducing the computational cost of exploring broad regions. Efficient collision detection routines reduce the number of tests of potential collisions that must be performed between the rover and the terrain while establishing new contact constraints. Simulations demonstrate that bouncing is the rover’s dominant mode of travel through the rock fields, and Monte Carlo simulations illustrate how the rover’s downrange position depends on the rover design and atmospheric conditions. The rover’s capacity for long-distance travel over Martian rock fields is verified.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::3a63ce2f5373d427d817ab7dd8a48633 https://doi.org/10.2514/1.a32132 Zobrazit plný text záznamu