Abstract
China’s Mars rover Zhurong successfully landed on Mars on 15 May 2021, and it is currently conducting an exploration mission on the Red Planet. This paper develops slip estimation models for the Mars rover Zhurong based on the data drive approach. Data were obtained by Zhurong’s validator ground indoor tests, and the test site was equipped with a low-gravity simulation device and simulated Mars soil to simulate the Mars conditions as much as possible. The obtained slip models trained by BP and GA-BP algorithms were applied to estimate Zhurong’s longitudinal (slip_x) and lateral slip (slip_y) on Mars, and the slip estimation values were used to display Zhurong’s actual driving path. The analyzed results prove that the GA-BP slip models perform better than the BP models, and can both be applied for correcting Zhurong’s path. The proposed models have high potential in guiding the path planning and monitoring of the slip for the Mars rover Zhurong.
Highlights
IntrCodhuincati’osnMars rover Zhurong landed on the southern region of Utopia Planitia on 15 MayC2h0in2a1’,saMndarist rsoevpearrZatheudrofnrogmlanthdeedlaonnditnheg spoluatthfoerrnmroegnio2n2 oMf aUytotpoiacoPnladnuitcitaaonnexplora 1rta5itoMinonamym2isi0ss2si1ioo,nnanoodnnittthhseeepMMaararattrietadinafnsruosmrufartcfheaec[le1a]n;[1dF]ii;gnugFripeglua1trsfeohro1mwssohntohw2e2siMmthaageyetiomofcaoZgnheduuorocftnZagnhauenxrdpoilntosg- and its llaannddininggplpaltafotrfomrmonoMnaMrs.aArss.oAf s31oDf e3c1emDbeecrem20b21e,rZ2h0u2r1o,nZghhuarsownogrkheadsownothrke esdurofancethofe surface MofarMs faorrs22fo5rM2a2r5tiaMn adratyiasnanddatyrasvaenledd atrtaovtaelleodf maotroettahlanof14m00orme stohuatnh f1r4o0m0 imts lasnoduitnhg from its pllaantfdoirnmg
This paper established slip estimation models based on ground tests data, and the testing site restored the situation of the rover Zhurong on Mars from the aspects of gravity, soil, etc
By validating the models of Zhurong’s on-bit data, the results showed that the slip estimation models were reasonably accurate in showing the slip behavior of the rover during motion, and the proposed models had a high potential in guiding the path planning and monitoring the slip for Zhurong
Summary
1. IntrCodhuincati’osnMars rover Zhurong landed on the southern region of Utopia Planitia on 15 MayC2h0in2a1’,saMndarist rsoevpearrZatheudrofnrogmlanthdeedlaonnditnheg spoluatthfoerrnmroegnio2n2 oMf aUytotpoiacoPnladnuitcitaaonnexplora 1rta5itoMinonamym2isi0ss2si1ioo,nnanoodnnittthhseeepMMaararattrietadinafnsruosmrufartcfheaec[le1a]n;[1dF]ii;gnugFripeglua1trsfeohro1mwssohntohw2e2siMmthaageyetiomofcaoZgnheduuorocftnZagnhauenxrdpoilntosg- and its llaannddininggplpaltafotrfomrmonoMnaMrs.aArss.oAf s31oDf e3c1emDbeecrem20b21e,rZ2h0u2r1o,nZghhuarsownogrkheadsownothrke esdurofancethofe surface MofarMs faorrs22fo5rM2a2r5tiaMn adratyiasnanddatyrasvaenledd atrtaovtaelleodf maotroettahlanof14m00orme stohuatnh f1r4o0m0 imts lasnoduitnhg from its pllaantfdoirnmg. Ipnloartdfoermto.exIpnloorerdsceirentoificetxaprgloetrse, Zshcuieronntigfiicnetvaitragbeltys,paZssheudrtohnrogugihnecvomitapblelyx passed ttehrraoiungs hwcitohmslpiple-pxrotenrerarineassw, withhicshlicpa-lplerdonfoer abreettaesr, rwesheiacrhchcoanllesdlipf.or better research on slip.
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