Simulation study of planetary rover's static model under unstructured terrain condition

The static simulation of the planetary rover with optimal power consumption under unstructured terrain condition is described in this paper. It is based on kinematics and statics model, combined with experiment data of wheel-soil test-bed developed by ourselves. The motion state is monitored by stable angle and each wheel slip ratio. The processes of static modeling and kinematic modeling are described in detail firstly, and then computer simulations are performed which will verify the validity of the analytical methodology in this paper. This method can not only be seemed as an advance judgment of the traffic ability for rover under unstructured terrain condition, but also can be used as the design basis of the rover controller.