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首页> 外文期刊>Journal of Spacecraft and Rockets >Terrain Modeling and Simulation of a Tumbleweed Rover Traversing Martian Rock Fields
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Terrain Modeling and Simulation of a Tumbleweed Rover Traversing Martian Rock Fields

机译：风滚轮火星车穿越火星岩场的地形建模与仿真

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A tumbleweed rover is a spherical wind-driven vehicle designed to negotiate harsh Martian terrain while searching for areas of scientific interest This paper models Martian rock fields and analyzes the rover's dynamics on these terrains. Computational procedures are established for creating randomized Martian rock fields based on statistical models. Optimization techniques allow for terrain generation to coincide with the rover's motion, reducing the computational cost of exploring broad regions. Efficient collision detection routines reduce the number of tests of potential collisions that must be performed between the rover and the terrain while establishing new contact constraints. Simulations demonstrate that bouncing is the rover's dominant mode of travel through the rock fields, and Monte Carlo simulations illustrate how the rover's downrange position depends on the rover design and atmospheric conditions. The rover's capacity for long-distance travel over Martian rock fields is verified.
机译：风滚轮火星车是一种球形风车，设计用于在寻找科学感兴趣的区域时穿越火星的恶劣地形。本文对火星的岩石场进行建模，并分析了火星车在这些地形上的动态。建立了基于统计模型创建随机火星岩场的计算程序。优化技术允许地形生成与流动站的运动相吻合，从而降低了探索广阔区域的计算成本。有效的碰撞检测例程减少了在建立新的接触约束时必须在流动站和地形之间执行的潜在碰撞测试的次数。仿真表明，弹跳是漫游者在岩石场中行驶的主要方式，而蒙特卡洛模拟说明漫游者的下档位置如何取决于漫游者的设计和大气条件。验证了火星车在火星岩田野上的长途旅行能力。

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