A simulation system for behaviour evaluation of off-road mobile robots
Résumé
This study deals with optimization of planetary rover traversability over challenging outdoor terrains. In this aim, it is necessary to simulate rover behaviour on soft soil with a high degree of realism. The paper describes a simulation system for mobile robots evolving on natural and unstructured surfaces. This simulator integrates the whole dynamics of the multibody systems and complex interactions with soft ground as well as control schemes.
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
---|