Visual Simulation of Wheel-Terrain Interaction of Lunar Rover Based on Creator/Vega

Author

Meng, Yanpeng ; Wang, Yong ; Xie, Yuan ; Zhou, Jianliang

Author_Institution

Autom. Dept., Univ. of Sci. & Technol. of China, Hefei, China

fYear

2009

fDate

26-28 Dec. 2009

Firstpage

5291

Lastpage

5294

Abstract

Visual simulation provides a new effective approach to study the lunar rover in all aspects. Accurate wheel-terrain interaction is very critical for visual simulation of lunar rover. A lunar rover 3D model was created by Multigen Creator. With Vega as the visual simulation platform, wheel-terrain interaction is realized, the inverse kinematics of lunar rover are solved. The key techniques, such as collision detection, intersection vector setting and joints control are implemented. The experimental results and analysis of lunar rover confirm the effectiveness of the visual simulation method of wheel-terrain interaction.

Keywords

aerospace computing; collision avoidance; control engineering computing; mechanical engineering computing; mobile robots; planetary rovers; robot kinematics; vehicle dynamics; Vega; collision detection; intersection vector setting; inverse kinematics; joints control; lunar rover; multigen creator; visual simulation; wheel-terrain interaction; Aerospace simulation; Analytical models; Computational modeling; Convergence; Equations; Geology; Kinematics; Moon; Uncertainty; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Science and Engineering (ICISE), 2009 1st International Conference on

Conference_Location

Nanjing

Print_ISBN

978-1-4244-4909-5

Type

conf

DOI

10.1109/ICISE.2009.1340

Filename

5455340