Multibody Simulation of Planetary Rover Mobility in Condition of Uncertain soft Terrain
| Autor: | Bernd Schäfer, Andreas Gibbesch, Rainer Krenn, Alberto Gallina, Tadeusz Uhl |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Rover Mobility
Raumfahrt-Systemdynamik Polynomial chaos business.industry Planetary rover Probabilistic logic Terrain Multibody simulation General Medicine Polynomial Chaos Expansion Soft soil contact model Terramechanics Space exploration Physics::Geophysics Computer Science::Robotics Nondeterministic algorithm Geography Position (vector) Interval and Fuzzy Analyses Aerospace engineering business Terrain Uncertainty Analysis Bayesian Probabilistic Framework |
| Zdroj: | Procedia IUTAM. 13:118-126 |
| ISSN: | 2210-9838 |
| DOI: | 10.1016/j.piutam.2015.01.009 |
| Popis: | Mobility analysis by computer multi-body simulation of wheeled rovers plays a fundamental role in planetary exploration programs. Considering that in space missions systems have to operate within an environment often times largely unknown, it turns out that embedding numerical analyses with stochastic methods can be beneficial. This work presents results from applying nondeterministic methods to mobility analysis of a planetary rover in condition of uncertain terrain properties. The terrain uncertainty is quantified by experimental measurements of the soil properties by a dedicated equipment. Next, the soil uncertainty is propagated through a multi-body model in order to assess the uncertainty of the rover position when traveling on soft soil. Probabilistic and non-probabilistic approaches are carried out and compared. |
| Databáze: | OpenAIRE |
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