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Joint effort of DLR and JPL towards model-based prediction of rover locomotion performance for operation purposes

Buse, Fabian and Hans, Michael and Wehage, Kristopher and Marteau, Eloise and Barthelmes, Stefan and Meirion-Griffith, Gareth and Mukherjee, Mukherjee and Krenn, Rainer and Bals, Johann and Alkalai, Leon (2018) Joint effort of DLR and JPL towards model-based prediction of rover locomotion performance for operation purposes. In: Proceedings of the International Astronautical Congress, IAC. 69th International Astronautical Congress, 1.-5. Okt. 2018, Bremen, Deutschland.

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Official URL: https://iafastro.directory/iac/proceedings/IAC-18/

Abstract

A key task in exploration rover operations is the selection of a safe vehicle path, mainly based on camera images and corresponding terrain surface classifications. The traverse of sandy terrain classes is usually considered as highly risky in terms of getting stuck. However, alternative routes via regions of rocky and bedrock terrain are very burdensome for the mechanical parts of the locomotion system, in particular for the wheel rims. Therefore, reliable simulation tools shall support operators to make wellfounded tradeoffs including all available path options. In order to make the tools applicable for operations and day by day mission planning, the used simulation tools must have reached an accepted level of validation. In the p aper an overview of the challenges and approaches of such a rover locomotion prediction tool are presented.

Item URL in elib:https://elib.dlr.de/124192/
Document Type:Conference or Workshop Item (Speech)
Title:Joint effort of DLR and JPL towards model-based prediction of rover locomotion performance for operation purposes
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Buse, Fabianfabian.buse (at) dlr.deUNSPECIFIED
Hans, MichaelUNSPECIFIEDUNSPECIFIED
Wehage, KristopherUNSPECIFIEDUNSPECIFIED
Marteau, EloiseUNSPECIFIEDUNSPECIFIED
Barthelmes, StefanUNSPECIFIEDUNSPECIFIED
Meirion-Griffith, GarethUNSPECIFIEDUNSPECIFIED
Mukherjee, MukherjeeUNSPECIFIEDUNSPECIFIED
Krenn, RainerUNSPECIFIEDUNSPECIFIED
Bals, JohannJohann.Bals (at) dlr.deUNSPECIFIED
Alkalai, LeonUNSPECIFIEDUNSPECIFIED
Date:4 October 2018
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Terramechanics, Rover, Robotics, Locomotion, Prediction
Event Title:69th International Astronautical Congress
Event Location:Bremen, Deutschland
Event Type:international Conference
Event Dates:1.-5. Okt. 2018
Organizer:International Astronautical Federation
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 - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Buse, Fabian
Deposited On:10 Dec 2018 11:32
Last Modified:16 Jul 2019 13:16

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