An explicitation modelling-based true time simulating system for planetary rover

Huaxin Zhang; Hao Xu; Hehua Ju

doi:10.1117/12.3030156

5 June 2024 An explicitation modelling-based true time simulating system for planetary rover

Huaxin Zhang, Hao Xu, Hehua Ju

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131637P (2024) https://doi.org/10.1117/12.3030156
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

This paper presents a true time simulating system for planetary rovers based on the explicitation modelling. The study introduces a novel explicit dynamic modelling method, namely tree-link and closed-link multibody systems, to provide an explicit and formal representation, resulting in the development of a modular simulation platform. The primary objective of this platform is to offer a reliable and efficient tool for modelling, with high update frequency and true time performance. Within the true time simulating system, we have implemented an advanced control algorithm that is based on the explicit model and capable of perceiving and responding to surface variations on the planet. Additionally, an intuitive user interface has been developed, enabling operators to monitor the status of the planetary rover and interact with it. The platform also provides data logging and analysis capabilities, allowing users to evaluate and enhance their control algorithms. Through a series of experiments and tests conducted on the platform, we have validated its feasibility and performance.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Huaxin Zhang, Hao Xu, and Hehua Ju "An explicitation modelling-based true time simulating system for planetary rover", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131637P (5 June 2024); https://doi.org/10.1117/12.3030156

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