Title :
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
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;
Conference_Titel :
Information Science and Engineering (ICISE), 2009 1st International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4244-4909-5
DOI :
10.1109/ICISE.2009.1340
