NDLI: Automated parameter tuning of a Generic Rover Dynamics Model for autonomous planetary space capability development, verification and validation of space applications

Content Provider	IEEE Xplore Digital Library
Author	Kamath, A.K. Lachat, D. Watt, M. Menon, P.P.
Copyright Year	2015
Description	Author affiliation: Airbus Defence & Space Ltd., Stevenage, UK (Lachat, D.) \|\| Coll. of Eng., Math. & Phys. Sci., Univ. of Exeter, Exeter, UK (Kamath, A.K.; Menon, P.P.) \|\| GRDM Framework Project, Airbus Defence & Space Ltd., Stevenage, UK (Watt, M.)
Abstract	A Generic Rover Dynamic Model (GRDM) is utilised to simulate a rover's ability to traverse an unstructured environment, such as a Martian terrain, including slippage on sand and rock climbing ability. This model has been developed by Airbus Defence and Space Ltd. within the scope of a UK Space Agency project (CREST-2) to support the study of rover Guidance, Navigation and Control (GNC) and operations as well as for preparation, rehearsal and replay of field trials. The model was developed to run much faster than real time by considering a simplified wheel-terrain interaction model. Hence, the wheel-terrain interaction configuration parameters have to be tuned to obtain good correlation with empirical data. In order to automate the tuning procedure, optimisation methods are applied. The optimisation procedure tunes the generic rover dynamic model w.r.t both sand traversing and rock climbing empirical data. The former consists of a typical continuous cost function whereas the latter fall under the class of satisfiability problems. Due to the differing nature of the sand and rock scenarios, a three step procedure is adopted. In this paper, a three step optimisation procedure is implemented in MATLAB and results are presented.
Starting Page	5258
Ending Page	5263
File Size	242455
Page Count	6
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7172160
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Rocks Tuning Optimization Measurement Mathematical model Vehicle dynamics Atmospheric modeling
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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