Title :
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
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;
Conference_Titel :
Aerospace Conference, 2004. Proceedings. 2004 IEEE
Print_ISBN :
0-7803-8155-6
DOI :
10.1109/AERO.2004.1367686
