Analysis And Simulation Of Lunar Rover On OpenGL

"Goddess in the moon"project has started up in 2004, so it is pressing to develop innovative lunar rover with freedom knowledge property right and excellent performance. Lunar rover is a mobile robot exploring harsh lunar environment. Rover development involves many new technologies, such as artificial intelligence, auto-control, framework, communication, computer science, etc. The control system is the basic and important subsystem of lunar rover. The rover performance and task life decide whether the exploration mission would succeed.This article aims to build alternant operation between the Lunar Rover's movement on the moon and the Virtual Simulation System on the earth. Firstly, we set up a virtual prototyping of lunar rover on the basis of meeting requirements of functions, which puts the emphasis on active surmounting obstacles and excellent stabilization. Secondly, we build the kinematics model of the Lunar Rover. In order to get the inverse solutions which are the drive velocity for motion control, we should analyze the variables and predigest the model, and then effective kinematics equation can be build and inverse solution can be got from the equation. Thirdly, to realize the consistency of the actual movement and the virtual movement, the virtual prototyping can be build on OpenGL, so the consistency of model comes true by the VRML format, and the consistency of motion comes true by the show list and coordinate transform. Lastly, we analyze its kinematics and conducts experiments of avoiding obstacle methods and ability of steering on ADAMS.The main task in the following article gives the analysis and simulation of the kinematics model for the realization of the actual movement and virtual movement.