NDLI: Research on virtual scene simulation for planetary rover

Content Provider	IEEE Xplore Digital Library
Author	Ning Mao Bo Su Qichang Yao Shuling Yang Hongji Xu
Copyright Year	2011
Description	Author affiliation: China North Vehicle Research Institute, Beijing, China (Bo Su; Qichang Yao; Shuling Yang) \|\| Changchun University of Science and Technology, Jilin Province, China (Ning Mao; Hongji Xu)
Abstract	The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter method. The kinematics equations of rover moving on uneven terrain are deduced with different kinematics and homogeneous transformation matrix. For the analyses of the planetary rover kinematics model in the virtual simulation scene, the necessary joint angles and some attitude angles can be got by solving nonlinear optimization equations of the established rover-terrain model. Finally, the accuracy of rover kinematics model and rover-terrain model is verified in the virtual environment which is created by VC/OpenGVS. The planetary rover kinematics simulation in the virtual scene is realized.
Starting Page	685
Ending Page	689
File Size	838413
Page Count	5
File Format	PDF
ISBN	9781457702686
e-ISBN	9781457702709
e-ISBN	9781457702693
DOI	10.1109/ICINFA.2011.5949081
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Virtual scene Solid modeling VC/OpenGVS Rover-terrain model Wheels Kinematics Kinematics model Mathematical model Joints Vehicle dynamics Equations
Content Type	Text
Resource Type	Article

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