A Judgment Criterion of Crossing Obstacle Ability for Lunar Rover with Track Angle

摘要

The problem of traversing obstacles for a six-wheeled rocker bogie lunar rover is presented. Based on the analysis of forces and rover movement track angle, a criterion to determine traversing obstacles ability for the rover is developed to predict whether the robot can overcome current obstacle. The concept of traversing obstacles ability index is presented, which can be used to describe the trafficability of the rover quantificationally. The caculated results of wheels driving torques by this method can be used as a reference for confirming appropriate driving torque with the wheels during they challenge the terrain. A numerical example is given to illustrate our method.