Quasi-Static Motion Simulation and Slip Prediction of Articulated Planetary Rovers Using a Kinematic Approach

Wheel slips are unavoidable when moving on a 3D rough surface. They are mainly due to geometrical features of contact surfaces. In this paper, we propose a model for predicting rover motion and contact slips by using a kineto-static model coupled with a linear contact model derived from semiempirical tire/terramechanics approaches. The paper also introduces a coherent approach for motion simulation of uneven articulated rovers which is computationally efficient and can then be used for autonomous on-line path planning. Model results are compared to another numerical model based on a multibody dynamic model including frictional contacts. The well-known rocker-bogie chassis, a highly articulated structure, is chosen to illustrate results and their comparison. Results demonstrate that for a slow motion, the proposed model approximates with a good accuracy the general behavior of the robot with a minimal time computation.