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Generic Rover Dynamics Model Framework for Autonomous Capability Development , Verification and Validation
| Content Provider | Semantic Scholar |
|---|---|
| Author | Lachat, Daisy Donchev, Anton Kamath, A. K. Menon, Prasanth P. Watt, M. |
| Copyright Year | 2015 |
| Abstract | Within the scope of a UK Space Agency CREST-2 project, a Generic Rover Dynamics Model (GRDM) Framework has been developed by Airbus Defence and Space Ltd. and the University of Exeter. This new Framework provides an essential building block required in a rover Guidance, Navigation and Control (GNC) or Operations simulator. The tool supports improvements in the area of rover GNC and can be used for verification and validation (V&V) for autonomous rover operations. The Framework is capable of auto-tuning the parameters of the physical performance model simulating rover behaviour on a terrain the GRDM to match observed field-test data for a variety of rover configurations. The tuned model then simulates a wider range of missions conditions. It also includes tools to rapidly create new rovers configurations and perform basic testing and characterisation of the configuration files. The first version of the GRDM Framework is made commercially available. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://robotics.estec.esa.int/ASTRA/Astra2015/Papers/Session%209B/95962_Lachat.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
