다물체 동역학 기반 행성 탐사로버 휠-지형 상호작용 모델링 및 주행특성 분석

In this study, to analyze the dynamic behavior of rovers on flat and/or inclined deformable terrain, we develop an analysis model of multi-body dynamics, which consists of external forces acting on each wheel based on a wheel and terrain interaction and rover dynamics model. To develop an analysis model based on multi-body dynamics, we describe the wheel-terrain interaction model to deal with slippage both in the longitudinal and lateral direction on flat and/or inclined deformable terrain, considering the properties of the lunar simulant in this model. Then, the dynamic behaviors of the planetary exploration rover on various inclined terrain during longitudinal and lateral traversing are predicted. Moreover, we investigate the influence of driving conditions, such as load distribution and steering configurations, that are used for the compensation strategies on slope terrain. These simulation results suggest that the appropriate compensation strategy and precise analysis model should be adopted so that the rover successfully traverses slope terrain and achieves its path-following tasks.