ROAMS : Rover Analysis, Modeling and Simulation

摘要

In this paper, we present the development of Roams system for real-time simulation of mobile robotic vehicles. The purpose for the simulation is to provide a virtual testing ground for various subsystems and components of the robotic vehicle, which includes a mechanical subsystem, an electrical subsystem, internal and external sensors, and on-board control software. Using the Darts/Dshell framework, the realtime simulator can be applied to both operator-inthe -loop and off-line simulation. This flexibility permits Roams to be utilized for various rover tasks in planetary exploration missions, including those of system engineering, scientific research, and operation teams. However, to achieve real-time in the simulation of complex physical systems is non-trivial. Efforts have been made to build the rover model for an efficient and stable simulator. Currently, the rover model is comprised of its mechanical, electrical, and sensor subsystems, all connected with the on-board software. With additional terrain and rock models, we developed a novel solution technique that leads to real-time simulation of the rover traversing Mars-like terrain. 1