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‎Libraries/mars_rover_lib.slx‎

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‎Models/mars_rover_terrain.slx‎

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--><title>Mars Rover on Uneven Terrain</title><meta name="generator" content="MATLAB 9.11"><link rel="schema.DC" href="http://purl.org/dc/elements/1.1/"><meta name="DC.date" content="2022-01-13"><meta name="DC.source" content="mars_rover_terrain.m"><style type="text/css">
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</style></head><body><div class="content"><h1>Mars Rover on Uneven Terrain</h1><!--introduction--><p>This example shows a six-wheeled autonomous vehicle driving on uneven terrain. The vehicle has a robotic arm that collects a sample from the ground and inserts it into a storage compartment onboard the vehicle. The powertrain can be modeled with ideal actuators or with an electrical network.</p><p>See documentation for workflows shown in this example:</p><div><ol><li><a href="matlab:web('mars_rover_workflow_grid_surface.html')">Terrain Definition</a></li><li><a href="matlab:web('mars_rover_workflow_point_cloud.html')">Point Cloud</a></li><li><a href="matlab:web('mars_rover_workflow_inverse_kinematics.html')">Robot Arm Inverse Kinematics</a></li><li><a href="matlab:edit('mars_rover_terrain_path_following.mlx')">Path Following</a></li></ol></div><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#1">Model</a></li><li><a href="#2">Rover Subsystem</a></li><li><a href="#3">Chassis Subsystem</a></li><li><a href="#4">Arm Subsystem</a></li><li><a href="#5">Terrain Subsystem</a></li><li><a href="#6">Simulation Results from Simscape Logging: Path 1</a></li><li><a href="#7">Simulation Results from Simscape Logging: Path 2</a></li><li><a href="#8">Simulation Results from Simscape Logging: Path 2 Electrical</a></li><li><a href="#9">Simulation Results from Simscape Logging: Path 2 Electrical, Flat</a></li></ul></div><h2 id="1">Model</h2><img vspace="5" hspace="5" src="mars_rover_terrain_01.png" alt=""> <h2 id="2">Rover Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_02.png" alt=""> <h2 id="3">Chassis Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_03.png" alt=""> <h2 id="4">Arm Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_04.png" alt=""> <h2 id="5">Terrain Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_05.png" alt=""> <h2 id="6">Simulation Results from Simscape Logging: Path 1</h2><p>This shows the results for path 1 where the rover is driven with an ideal torque sources on uneven terrain.</p><img vspace="5" hspace="5" src="mars_rover_terrain_06.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_07.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_08.png" alt=""> <h2 id="7">Simulation Results from Simscape Logging: Path 2</h2><p>This shows the results for path 2 where the rover is driven with an ideal torque sources on uneven terrain. The destination is the same but the rover approaches from a different side. The terrain elevation and position at the sample is different from path 1. The inverse kinematic algorithm uses the measured position of the sample relative to the rover to find joint angles that will permit the sample to be obtained.</p><img vspace="5" hspace="5" src="mars_rover_terrain_09.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_10.png" alt=""> <h2 id="8">Simulation Results from Simscape Logging: Path 2 Electrical</h2><p>The model is configured to model the electrical system of the powertrain, including 6 motors for propulsion and 4 motors for steering. The results of the simulation include the current drawn by the motors as it follows path 2.</p><img vspace="5" hspace="5" src="mars_rover_terrain_11.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_12.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_13.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_14.png" alt=""> <h2 id="9">Simulation Results from Simscape Logging: Path 2 Electrical, Flat</h2><p>The model is configured to model the electrical system of the powertrain, including 6 motors for propulsion and 4 motors for steering. To simplify the test, we put the rover on flat ground, but follow the same x-y trajectory. We can see the difference in current drawn by the motors.</p><img vspace="5" hspace="5" src="mars_rover_terrain_15.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_16.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_17.png" alt=""> <p class="footer">Copyright 2021-2022 The MathWorks, Inc.<br><a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2021b</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Mars Rover on Uneven Terrain</h1><!--introduction--><p>This example shows a six-wheeled autonomous vehicle driving on uneven terrain. The vehicle has a robotic arm that collects a sample from the ground and inserts it into a storage compartment onboard the vehicle. The powertrain can be modeled with ideal actuators or with an electrical network.</p><p>See documentation for workflows shown in this example:</p><div><ol><li><a href="matlab:web('mars_rover_workflow_grid_surface.html')">Terrain Definition</a></li><li><a href="matlab:web('mars_rover_workflow_point_cloud.html')">Point Cloud</a></li><li><a href="matlab:web('mars_rover_workflow_inverse_kinematics.html')">Robot Arm Inverse Kinematics</a></li><li><a href="matlab:edit('mars_rover_terrain_path_following.mlx')">Path Following</a></li></ol></div><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#1">Model</a></li><li><a href="#2">Rover Subsystem</a></li><li><a href="#3">Chassis Subsystem</a></li><li><a href="#4">Arm Subsystem</a></li><li><a href="#5">Terrain Subsystem</a></li><li><a href="#6">Simulation Results from Simscape Logging: Path 1</a></li><li><a href="#7">Simulation Results from Simscape Logging: Path 2</a></li><li><a href="#8">Simulation Results from Simscape Logging: Path 2 Electrical</a></li><li><a href="#9">Simulation Results from Simscape Logging: Path 2 Electrical, Flat</a></li></ul></div><h2 id="1">Model</h2><img vspace="5" hspace="5" src="mars_rover_terrain_01.png" alt=""> <h2 id="2">Rover Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_02.png" alt=""> <h2 id="3">Chassis Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_03.png" alt=""> <h2 id="4">Arm Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_04.png" alt=""> <h2 id="5">Terrain Subsystem</h2><img vspace="5" hspace="5" src="mars_rover_terrain_05.png" alt=""> <h2 id="6">Simulation Results from Simscape Logging: Path 1</h2><p>This shows the results for path 1 where the rover is driven with an ideal torque sources on uneven terrain.</p><img vspace="5" hspace="5" src="mars_rover_terrain_06.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_07.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_08.png" alt=""> <h2 id="7">Simulation Results from Simscape Logging: Path 2</h2><p>This shows the results for path 2 where the rover is driven with an ideal torque sources on uneven terrain. The destination is the same but the rover approaches from a different side. The terrain elevation and position at the sample is different from path 1. The inverse kinematic algorithm uses the measured position of the sample relative to the rover to find joint angles that will permit the sample to be obtained.</p><img vspace="5" hspace="5" src="mars_rover_terrain_09.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_10.png" alt=""> <h2 id="8">Simulation Results from Simscape Logging: Path 2 Electrical</h2><p>The model is configured to model the electrical system of the powertrain, including 6 motors for propulsion and 4 motors for steering. The results of the simulation include the current drawn by the motors as it follows path 2.</p><img vspace="5" hspace="5" src="mars_rover_terrain_11.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_12.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_13.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_14.png" alt=""> <h2 id="9">Simulation Results from Simscape Logging: Path 2 Electrical, Flat</h2><p>The model is configured to model the electrical system of the powertrain, including 6 motors for propulsion and 4 motors for steering. To simplify the test, we put the rover on flat ground, but follow the same x-y trajectory. We can see the difference in current drawn by the motors.</p><img vspace="5" hspace="5" src="mars_rover_terrain_15.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_16.png" alt=""> <img vspace="5" hspace="5" src="mars_rover_terrain_17.png" alt=""> <p class="footer">Copyright 2021-2022 The MathWorks, Inc.<br><a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2022a</a><br></p></div><!--
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