Recent developments in the ROAMS planetary rover simulation environment

Jain, Abhinandan; Balaram, J.; Cameron, Jonathan; Guineau, J.; Lim, C.; Pomerantz, Marc; Sohl, Garett A.

doi:10.1109/aero.2004.1367686

Cited by 60 publications

(53 citation statements)

References 8 publications

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“…More importantly model configurations are limited to on-road vehicles like cars and trucks. JPL developed Rover Analysis, Modeling, and Simulation (ROAMS) software to model the full dynamics of the Mars Exploration Rovers, including wheel/soil slippage/sinkage interaction [13]. While ROAMS was helpful for design evaluation, it was not feasible for use in motion planning.…”

Section: Related Workmentioning

confidence: 99%

Modular Dynamic Simulation of Wheeled Mobile Robots

Seegmiller

Kelly

2015

Springer Tracts in Advanced Robotics

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This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in a novel differential algebraic equation (DAE) formulation. To make this possible we resolve issues of nonlinearity and overconstraint. We demonstrate our method's flexibility and speed through simulations of two state-of-the-art WMR platforms and wheel-ground contact models. Simulation accuracy is verified in a physical experiment.

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Section: Related Workmentioning

confidence: 99%

Modular Dynamic Simulation of Wheeled Mobile Robots

Seegmiller

Kelly

2015

Springer Tracts in Advanced Robotics

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“…It is beyond the scope of this paper to discuss this algorithm in detail, and the focus of this section is how the path planner fits into the system. Section 6 explains the high-fidelity traversability analysis (HFTA) algorithm, which uses a sophisticated kinematic and dynamic forward simulation [10] of the rover following a path. It is designed to calculate a more accurate and realistic cost to traverse that path.…”

Section: Figure 1 Rocky8 In the Jpl Mars Yardmentioning

confidence: 99%

Terrain Adaptive Navigation for Mars Rovers

Helmick

Angelova

Livianu

et al. 2007

2007 IEEE Aerospace Conference

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Abstract-A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

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“…• ROAMS (Yen, Jain & Balaram, 1999;Jain et al, 2004) is an advanced simulation tool as well. It has similar features like RCAST.…”

Section: Existing Softwarementioning

confidence: 99%