Quasi Static Motion Simulation and Slip Prediction of Articulated Planetary Rovers Using a Kinematic Approach

Abstract

Wheel slips are unavoidable when moving on a 3D rough surface. They are mainly due to geometrical features of contact surfaces. In this paper, we propose a model for predicting rover motion and contact slips by using a kinetostatic model coupled with a linear contact model derived from semiempirical tire/terramechanics approaches. The paper also introduces a coherent approach for motion simulation of uneven articulated rovers which is computationally efficient and can then be used for autonomous online path planning. Model results are compared to another numerical model based on a multibody dynamic model including frictional contacts. The wellknown rockerbogie chassis, a highly articulated structure, is chosen to illustrate results and their comparison. Results demonstrate that for a slow motion, the proposed model approximates with a good accuracy the general behavior of the robot with a minimal time computation.