The DLR Rover Simulation Toolkit

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.