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The DLR Rover Simulation Toolkit

Hellerer, Matthias and Barthelmes, Stefan and Buse, Fabian (2017) The DLR Rover Simulation Toolkit. ESA's Automation and Robotics group. 14th symposium on advanced space technologies in robotics and automation, 20-22 June 2017, Leiden, The Netherlands.

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Abstract

Autonomous exploration rovers are currently the primary means of research on extra-terrestrial bodies. Due to the circumstances of their deployment it is vital to ensure their unassisted performance in a harsh environment. Preliminary simulations are therefore indispensable. To facilitate these simulations we introduce the DLR Rover Simulation Toolkit (RST). The RST constitutes a framework of libraries, allowing engineers to quickly assemble digital rover twins, particularly for early design phases. Enabled by the modelling language Modelica it covers a wide range of aspects from different domains in one unifying framework. This paper establishes in detail the RST’s structure and design decisions before showing its practical application in a Software-in-the loop (SiL) simulator, elaborating on future enhancements and its use during collaborative engineering studies in the DLR Systems and Control Innovation Lab.

Item URL in elib:https://elib.dlr.de/115843/
Document Type:Conference or Workshop Item (Speech)
Title:The DLR Rover Simulation Toolkit
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hellerer, MatthiasMatthias.Hellerer (at) dlr.deUNSPECIFIED
Barthelmes, StefanStefan.Barthelmes (at) dlr.deUNSPECIFIED
Buse, FabianFabian.Buse (at) dlr.deUNSPECIFIED
Date:20 June 2017
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Editors:
EditorsEmail
van Beekhuizen, Evelineeveline.vanbeekhuizen@atpi.com
Publisher:ESA's Automation and Robotics group
Status:Published
Keywords:rover, exploration, design, assembly, framework, library, modelica, Software-in-the-loop, SCIL, Systems Control Innovation Lab, digital twin, early design, simulation
Event Title:14th symposium on advanced space technologies in robotics and automation
Event Location:Leiden, The Netherlands
Event Type:international Conference
Event Dates:20-22 June 2017
Organizer:European Space Agency Automation and Robotics group
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotischer Wissenschafts-Explorer
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Hellerer, Matthias
Deposited On:05 Dec 2017 13:56
Last Modified:31 Jul 2019 20:13

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