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Simulations of Mars Rover Traverses

Zhou, Feng and Arvidson, Raymond E. and Bennett, Keith and Trease, Brian and Lindemann, Randel and Bellutta, Paolo and Iagnemma, Karl and Senatore, Carmine (2014) Simulations of Mars Rover Traverses. Journal of Field Robotics, 31 (1). pp. 141-160. ISSN 1556-4959. doi:10.1002/rob.21483.

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Artemis (Adams-based Rover Terramechanics and Mobility Interaction Simulator) is a software tool developed to simulate rigid-wheel planetary rover traverses across natural terrain surfaces. It is based on mechanically realistic rover models and the use of classical terramechanics expressions to model spatially variable wheel-soil and wheel-bedrock properties. Artemis's capabilities and limitations for the Mars Exploration Rovers (Spirit and Opportunity) were explored using single-wheel laboratory-based tests, rover field tests at the Jet Propulsion Laboratory Mars Yard, and tests on bedrock and dune sand surfaces in the Mojave Desert. Artemis was then used to provide physical insight into the high soil sinkage and slippage encountered by Opportunity while crossing an aeolian ripple on the Meridiani plains and high motor currents encountered while driving on a tilted bedrock surface at Cape York on the rim of Endeavour Crater. Artemis will continue to evolve and is intended to be used on a continuing basis as a tool to help evaluate mobility issues over candidate Opportunity and the Mars Science Laboratory Curiosity rover drive paths, in addition to retrieval of terrain properties by the iterative registration of model and actual drive results.

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Arvidson, Raymond E.0000-0002-2854-0362
Additional Information:© 2013 Wiley. Received 7 December 2012; accepted 21 August 2013. Article first published online: 30 SEP 2013. This research is funded by a contract to Washington University for the NASA Mars Exploration Rover Mission. This work is also supported in part by the W.M. Keck Institute for Space Studies. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. The authors thank PDS Geosciences Node for providing image data. Navcam images used in this paper can be found in (
Group:Keck Institute for Space Studies
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Keck Institute for Space Studies (KISS)UNSPECIFIED
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Record Number:CaltechAUTHORS:20160224-160143403
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Official Citation:Zhou, F., Arvidson, R. E., Bennett, K., Trease, B., Lindemann, R., Bellutta, P., Iagnemma, K. and Senatore, C. (2014), Simulations of Mars Rover Traverses. J. Field Robotics, 31: 141–160. doi: 10.1002/rob.21483
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:64750
Deposited By: Colette Connor
Deposited On:25 Feb 2016 16:45
Last Modified:30 Nov 2022 00:47

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