Algorithm Computes Kinematics of a Rover on Rocky Terrain

The Rover Analysis Modeling and Simulation (ROAMS) algorithm is to solve the kinematics of a wheeled mo- bile robot (rover) traversing on a rocky terrain. The rover is constructed using a “rocker-bogey-differential” type suspension and steering system as shown in the figure. By exploring the mechanical symmetry and the wheeled-terrain contact characteristics on a rough terrain profile, we developed a novel algorithm to carry out the rover’s configuration, including the vehicle’s wheels, steering and suspension linkages, and the position and orientation of the chassis. Because of its efficient and reliable numerical results, the ROAMS algorithm is well suited for the real-time simulation test bed, e.g., a simulation software system, of the mobile robotic vehicles in the planetary surface exploration missions. Currently, it is used to support the development of simulation and operation tools for the Mars Exploration Rover (MER) in the Mars ‘03 mission.