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The Archimede Rover: A Comparison between Simulations and Experiments

Caruso, Matteo and Giberna, Marco and Görner, Martin and Gallina, Paolo and Seriani, Stefano (2023) The Archimede Rover: A Comparison between Simulations and Experiments. Robotics, 12 (5), p. 125. doi: 10.3390/robotics12050125. ISSN 2218-6581.

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Official URL: https://www.mdpi.com/2218-6581/12/5/125


In this paper, we propose an in-depth evaluation of the performance of the Archimede rover while traversing rough terrain with loose soil. In order to better analyze this, the reality gap is evaluated when simulating the behavior with an open-source simulator. To this extent, we implement a full model of the rover in the open-source dynamics simulator Gazebo, along with several types of terrains that replicate the experimental conditions. The rover control system is equipped with a kinematics model that allows for driving in different modes. We implement an odometric system aboard the rover, as well as an external optical absolute tracking system as reference. We estimate the drift occurring during driving in different configurations, two types of soil with corresponding wheel geometries. The results show good adherence of the odometry when the rover drives on planar ground; conversely, as expected, a marked influence of slope is seen on wheel drift. The reality gap between simulations and experimental results is kept comparatively small provided that slopes are not present.

Item URL in elib:https://elib.dlr.de/196999/
Document Type:Article
Title:The Archimede Rover: A Comparison between Simulations and Experiments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Caruso, MatteoUniversity of TriesteUNSPECIFIEDUNSPECIFIED
Giberna, MarcoUniversity of TriesteUNSPECIFIEDUNSPECIFIED
Görner, MartinUNSPECIFIEDhttps://orcid.org/0009-0001-3418-574X141791123
Gallina, PaoloUniversity of TriesteUNSPECIFIEDUNSPECIFIED
Seriani, StefanoUniversity of TriesteUNSPECIFIEDUNSPECIFIED
Date:3 September 2023
Journal or Publication Title:Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:p. 125
Keywords:mobile robotics; Archimede rover; planetary rovers; Ackermann steering; ICR projection approach; odometry; wheels slip estimation; dynamics simulations
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Field Robotics Teams
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Görner, Martin
Deposited On:05 Sep 2023 21:42
Last Modified:05 Sep 2023 21:42

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