A general approach to kinematics modeling of all-terrain rovers

This paper describes a general approach to kinematics modeling of all-terrain rovers traversing uneven terrain. The model is derived for full six degree of freedom motion including rotations in pitch, roll, and yaw as well as translation in x, y, and z. Differential kinematics is derived for individual wheel motions in contact with the terrain and then combined to form the composite equation for rover motion. Three useful types of kinematics (i.e., navigation, actuation and slip) are identified, and the equations and application of each are discussed. For illustration, the method is specialized to Rocky 7, a highly articulated prototype Mars rover. Simulation results are described for Rocky 7 traversing bumpy terrain.