Recent developments in the ROAMS planetary rover simulation environment

Author

Jain, A. ; Balaram, J. ; Cameron, J. ; Guineau, J. ; Lim, C. ; Pomerantz, M. ; Sohl, G.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

2

fYear

2004

fDate

6-13 March 2004

Firstpage

861

Abstract

This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. ROAMS includes models for various subsystems and components of the vehicle including its mechanical subsystem, sensors, on-board resources, on-board control software, the terrain environment and terrain/vehicle interactions. The ROAMS simulator can be used in stand-alone mode, for closed-loop simulation with on-board software or for operator-in-the-loop simulations.

Keywords

aerospace computing; aerospace control; aerospace simulation; closed loop systems; planetary rovers; ROAMS planetary rover; closed loop simulation; mechanical subsystem; onboard control software; onboard resources; planetary surface exploration rover vehicles; rover analysis modeling and simulation; sensors; terrain environment; terrain-vehicle interactions; Actuators; Aerospace simulation; Analytical models; Hardware; Land surface; Mars; Physics; Software testing; System testing; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace Conference, 2004. Proceedings. 2004 IEEE

ISSN

1095-323X

Print_ISBN

0-7803-8155-6

Type

conf

DOI

10.1109/AERO.2004.1367686

Filename

1367686