Abstract:Hopping rovers have become a promising way of asteroid surface exploration. This paper focuses on the hopping trajectory design between two given surface points and discusses the irregular terrain's influence on the design process. By taking the hopping rover as a point mass, dynamical equations are derived based on the polyhedral method. The principle of hopping trajectory planning is summarized with the related solving algorithm. The initial velocity increments required to control the subsequent hopping traj… Show more
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