Terrain Modeling and Simulation of a Tumbleweed Rover Traversing Martian Rock Fields

Mazzoleni, Andre P.; Hartl, Alexandre E.

doi:10.2514/1.a32132

Cited by 5 publications

(4 citation statements)

References 14 publications

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“…It takes the rover approximately 30 s for the states ω si s;2 and _ ϕ to converge to the calculated equilibrium values of ω si s;2 ω 2.63 and _ ϕ −ω −2.63 rad∕s, thus numerically validating Eqs. (9) and (10). In Fig.…”

Section: A Equilibrium Statementioning

confidence: 96%

“…it is necessary to substitute the addition (α ϕ ) with the term θ , given by Eq. (10). The matrix Λ contains eigenvalues located in the open right-half plane, and by Theorem 4.1, the equilibrium state of the nonlinear system is unstable.…”

Section: A Equilibrium Statementioning

confidence: 98%

“…However, a drawback of these designs is that they offer a reduced available payload area for scientific equipment [7,8]. Open-structure tumbleweed rover designs that integrate interior sails to capture wind forces are extensively studied in [9][10][11].…”

mentioning

confidence: 99%

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Rolling Stability of a Power-Generating Tumbleweed Rover

Hogan

Forbes

Barfoot

2014

Journal of Spacecraft and Rockets

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In this paper, the rolling stability of a power-generating tumbleweed rover is investigated. The nonlinear equations of motion of the rover capture the nonholonomic nature of rolling without slipping, the external wind force, and energy dissipation due to rolling friction and power generation. To assess stability of the system as it rolls about a preferred axis of rotation, Lyapunov’s indirect method is employed. When the shell of the tumbleweed rover has a uniform mass distribution, Lyapunov’s indirect method predicts instability; when the inertia about a preferred axis of rotation is increased, Lyapunov’s indirect method predicts stability. Numerical simulation results of both the linearized and nonlinear equations of motion confirm both the instability and stability predictions of Lyapunov’s indirect method.

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Section: A Equilibrium Statementioning

confidence: 96%

Section: A Equilibrium Statementioning

confidence: 98%

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Rolling Stability of a Power-Generating Tumbleweed Rover

Hogan

Forbes

Barfoot

2014

Journal of Spacecraft and Rockets

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“…Model. Studies of tumbleweed rovers have led to the development of detailed, mathematical models of spherical systems free rolling down an incline [60][61][62][63]. These models are capable of representing collisions with rocks and include aerodynamic forces acting on the sphere.…”

Section: Modeling Actuated Rolling Of Cylindrical Trrexmentioning

confidence: 99%

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

Edwin

Denhart

Gemmer

et al. 2014

Journal of Mechanical Design

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This paper explores a two state rover concept called the Transforming Roving-Rolling Explorer (TRREx). The first state allows the rover to travel like a conventional 6-wheeled rover. The second state is a sphere to permit faster descent of steep inclines. Performance of this concept is compared to a traditional rocker-bogie (RB) architecture using hi-fidelity simulations in Webots. Results show that for missions involving very rugged terrain, or a considerable amount of downhill travel, the TRREx outperforms the rocker-bogie. Locomotion of the TRREx system using a continuous shifting of the center of mass through “actuated rolling” is also explored. A dynamics model for a cylindrical representation of the rover is simulated to identify feasible configurations capable of generating and maintaining continuous rolling motion even on sandy terrain. Results show that in sufficiently benign terrain gradual inclines can be traversed with actuated rolling. This model allows for increased exploration of the problem's design space and assists in establishing parameters for an Earth prototype.

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Dynamic modeling and mobility analysis of the transforming roving–rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

Edwin

Mazzoleni

2016

Acta Astronautica

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Terrain Modeling and Simulation of a Tumbleweed Rover Traversing Martian Rock Fields

Cited by 5 publications

References 14 publications

Rolling Stability of a Power-Generating Tumbleweed Rover

Rolling Stability of a Power-Generating Tumbleweed Rover

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

Dynamic modeling and mobility analysis of the transforming roving–rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

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