{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,2,13]],"date-time":"2024-02-13T18:04:39Z","timestamp":1707847479045},"reference-count":12,"publisher":"IGI Global","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,4,1]]},"abstract":"<p>Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover was built and the dynamic model was derived based on bond graph. The simulation studies were performed for obstacle climbing capability of the rover. It was observed from the study that rover can pass through plane surface, inclined surface, and inclined ditch without any control on the actuators of the rover. However, it fails to cross a vertical ditch so a velocity controller was designed. It consists of a proportional integral (PI) controller and reduced model of the rover. It is found from simulation and animation studies that with the proposed velocity controller the rover is able to cross the vertical ditch.<\/p>","DOI":"10.4018\/ijimr.2011040103","type":"journal-article","created":{"date-parts":[[2011,10,20]],"date-time":"2011-10-20T14:39:45Z","timestamp":1319121585000},"page":"27-41","source":"Crossref","is-referenced-by-count":2,"title":["Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration"],"prefix":"10.4018","volume":"1","author":[{"given":"Pushpendra","family":"Kumar","sequence":"first","affiliation":[{"name":"Indian Institute of Technology, Roorkee, India"}]},{"given":"Pushparaj Mani","family":"Pathak","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology, Roorkee, India"}]}],"member":"2432","reference":[{"key":"ijimr.2011040103-0","doi-asserted-by":"crossref","unstructured":"Bai-chao, C., Rong-ben, W., Lu, Y., Li-sheng, J., & Lie, G. (2007). Design and simulation research on a new type of suspension for lunar rover. In Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, FL (pp. 173-177).","DOI":"10.1109\/CIRA.2007.382864"},{"key":"ijimr.2011040103-1","unstructured":"Hacot, H., Dubowsky, S., & Bidaud, P. (1998). Analysis and simulation of a rocker-bogie exploration rover. In Proceedings of the Twelfth Symposium on Theory and Practice of Robots and Manipulators, Paris, France."},{"key":"ijimr.2011040103-2","author":"D.Karnopp","year":"2000","journal-title":"System dynamics- modeling and simulation of mechatronics systems"},{"key":"ijimr.2011040103-3","unstructured":"Li, S., Gao, H., & Deng, Z. (2008). Mobility performance evaluation of lunar rover and optimization of rocker-bogie suspension parameters. 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