Algorithm analysis for a rover simulation platform

Haibo Gao; Weihua Li; Liang Ding; Zongquan Deng; Zhen Liu; Jun Long Guo

doi:10.1109/EMEIT.2011.6023137

Algorithm analysis for a rover simulation platform

Haibo Gao^*
, Weihua Li
, Liang Ding
, Zongquan Deng
, Zhen Liu
, Jun Long Guo

^*Corresponding author for this work

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. Key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable.

Original language	English
Title of host publication	Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011
Pages	666-669
Number of pages	4
DOIs	https://doi.org/10.1109/EMEIT.2011.6023137
State	Published - 2011
Event	2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011 - Harbin, China Duration: 12 Aug 2011 → 14 Aug 2011

Publication series

Name	Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011
Volume	2

Conference

Conference	2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011
Country/Territory	China
City	Harbin
Period	12/08/11 → 14/08/11

Keywords

algorithm
rover simulation

Access to Document

10.1109/EMEIT.2011.6023137

Cite this

Gao, H., Li, W., Ding, L., Deng, Z., Liu, Z., & Guo, J. L. (2011). Algorithm analysis for a rover simulation platform. In Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011 (pp. 666-669). Article 6023137 (Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011; Vol. 2). https://doi.org/10.1109/EMEIT.2011.6023137

Gao, Haibo ; Li, Weihua ; Ding, Liang et al. / Algorithm analysis for a rover simulation platform. Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011. 2011. pp. 666-669 (Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011).

@inproceedings{4dd25e94b94946febc86e6f209b15e11,

title = "Algorithm analysis for a rover simulation platform",

abstract = "In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. Key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable.",

keywords = "algorithm, rover simulation",

author = "Haibo Gao and Weihua Li and Liang Ding and Zongquan Deng and Zhen Liu and Guo, \{Jun Long\}",

year = "2011",

doi = "10.1109/EMEIT.2011.6023137",

language = "英语",

isbn = "9781612840857",

series = "Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011",

pages = "666--669",

booktitle = "Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011",

note = "2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011 ; Conference date: 12-08-2011 Through 14-08-2011",

}

Gao, H, Li, W , Ding, L , Deng, Z , Liu, Z & Guo, JL 2011, Algorithm analysis for a rover simulation platform. in Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011., 6023137, Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011, vol. 2, pp. 666-669, 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011, Harbin, China, 12/08/11. https://doi.org/10.1109/EMEIT.2011.6023137

Algorithm analysis for a rover simulation platform. / Gao, Haibo; Li, Weihua ; Ding, Liang et al.
Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011. 2011. p. 666-669 6023137 (Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Algorithm analysis for a rover simulation platform

AU - Gao, Haibo

AU - Li, Weihua

AU - Ding, Liang

AU - Deng, Zongquan

AU - Liu, Zhen

AU - Guo, Jun Long

PY - 2011

Y1 - 2011

N2 - In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. Key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable.

AB - In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. Key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable.

KW - algorithm

KW - rover simulation

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DO - 10.1109/EMEIT.2011.6023137

M3 - 会议稿件

AN - SCOPUS:80053407493

SN - 9781612840857

T3 - Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

SP - 666

EP - 669

BT - Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

T2 - 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

Y2 - 12 August 2011 through 14 August 2011

ER -

Gao H, Li W , Ding L , Deng Z , Liu Z , Guo JL. Algorithm analysis for a rover simulation platform. In Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011. 2011. p. 666-669. 6023137. (Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011). doi: 10.1109/EMEIT.2011.6023137

Algorithm analysis for a rover simulation platform

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