Title :
Research on virtual scene simulation for planetary rover
Author :
Mao, Ning ; Su, Bo ; Yao, Qichang ; Yang, Shuling ; Xu, Hongji
Author_Institution :
Changchun Univ. of Sci. & Technol., Changchun, China
Abstract :
The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter method. The kinematics equations of rover moving on uneven terrain are deduced with different kinematics and homogeneous transformation matrix. For the analyses of the planetary rover kinematics model in the virtual simulation scene, the necessary joint angles and some attitude angles can be got by solving nonlinear optimization equations of the established rover-terrain model. Finally, the accuracy of rover kinematics model and rover-terrain model is verified in the virtual environment which is created by VC/OpenGVS. The planetary rover kinematics simulation in the virtual scene is realized.
Keywords :
aerospace computing; attitude control; control engineering computing; nonlinear programming; planetary rovers; robot kinematics; terrain mapping; virtual reality; wheels; D-H parameter method; VC/OpenGVS; attitude angle; homogeneous transformation matrix; kinematics equation; kinematics simulation; nonlinear optimization equation; planetary rover; rocker-bogie design; rover kinematics model; rover-terrain model; virtual scene simulation; virtual simulation environment; wheels; Equations; Joints; Kinematics; Mathematical model; Solid modeling; Vehicle dynamics; Wheels; Kinematics model; Rover-terrain model; VC/OpenGVS; Virtual scene;
Conference_Titel :
Information and Automation (ICIA), 2011 IEEE International Conference on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4577-0268-6
Electronic_ISBN :
978-1-4577-0269-3
DOI :
10.1109/ICINFA.2011.5949081