This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. ROAMS includes models for various subsystems and components of the robotic vehicle including its mechanical subsystem, sensors, on-board resources, on-board control software, the terrain environment and terrain/vehicle interactions. The ROAMS simulator can be used for stand-alone simulation, closed-loop simulations with on-board software or for operator-in-the-loop simulations.


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    Title :

    Recent developments in the ROAMS planetary rover simulation environment


    Contributors:
    Sohl, G. (author) / Pomerantz, M. (author) / Lim, C. (author) / Guineau, J. (author) / Cameron, J. (author) / Jain, A. (author)

    Publication date :

    2004-03-01


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English



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