Modeling of Wheel-soil Contact for the Edres Mobile Robot Simulator
نویسندگان
چکیده
The EDRES software, developed by the CNES of Toulouse, is a simulation tool for planetary mobile robots. It is intended to validate control algorithms and onboard software for future exploration missions, such as ExoMars. To enhance the relevance of the simulation, we have integrated a terramechanic contact model, in order to study the influence of slippage and sinkage on motion estimation and control, over various soils. A specific algorithm has been proposed, taking into account the architecture of the simulator.
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تاریخ انتشار 2008