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Software-in-the-Loop Simulation of a Planetary Rover

Hellerer, Matthias and Schuster, Martin J. and Lichtenheldt, Roy (2016) Software-in-the-Loop Simulation of a Planetary Rover. The International Symposium on Artificial Intelligence, Robotics and Automation in Space, 2016-06-20, Beijing, P.R.China.

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Abstract

The development of autonomous navigation algorithms for planetary rovers often hinges on access to rover hardware. Yet this access is usually very limited. In order to facilitate the continued development of these algorithms even when the hardware is temporarily unavailable, simulations are used. To minimize any additional work, these simulations must tightly integrate with the rover’s software infrastructure. They are then called Software-in-the-Loop simulators. In preparation for the 2015 DLR SpaceBot Camp, a simulation of the DLR LRU rover became necessary to ensure a timely progress of the navigation algorithms development. This paper presents the Software-in-the-loop simulator of the LRU, including details on the implementation and application.

Item URL in elib:https://elib.dlr.de/104934/
Document Type:Conference or Workshop Item (Speech)
Title:Software-in-the-Loop Simulation of a Planetary Rover
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hellerer, MatthiasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schuster, Martin J.UNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Lichtenheldt, RoyUNSPECIFIEDhttps://orcid.org/0000-0002-2539-4910UNSPECIFIED
Date:20 June 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Rover, Simulation, Software-in-the-loop, SiL, SpaceBotCamp, SpaceBotCup, LRU, Leightweight Rover Unit, Wheel -ground contact, virtual cameras
Event Title:The International Symposium on Artificial Intelligence, Robotics and Automation in Space
Event Location:Beijing, P.R.China
Event Type:international Conference
Event Date:20 June 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Robotische Exploration (old), R - Explorationsstudien (old), R - Raumfahrzeugsysteme - Numerische Verfahren und Simulation (old), R - Vorhaben Robotdynamik & Simulation (old), L - Simulation and Validation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Hellerer, Matthias
Deposited On:12 Jul 2016 13:25
Last Modified:24 Apr 2024 20:10

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