Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32468
Lunar Rover Virtual Simulation System with Autonomous Navigation

Authors: Bao Jinsong, Hu Xiaofeng, Wang Wei, Yu Dili, Jin Ye


The paper researched and presented a virtual simulation system based on a full-digital lunar terrain, integrated with kinematics and dynamics module as well as autonomous navigation simulation module. The system simulation models are established. Enabling technologies such as digital lunar surface module, kinematics and dynamics simulation, Autonomous navigation are investigated. A prototype system for lunar rover locomotion simulation is developed based on these technologies. Autonomous navigation is a key echnology in lunar rover system, but rarely involved in virtual simulation system. An autonomous navigation simulation module have been integrated in this prototype system, which was proved by the simulation results that the synthetic simulation and visualizing analysis system are established in the system, and the system can provide efficient support for research on the autonomous navigation of lunar rover.

Keywords: Lunar rover, virtual simulation, autonomous navigation, full-digital lunar terrain

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1793


[1] Carnegie Mellon University (CMU)
[2] Reid Simmons, Eric Krotkov, et al. Experience with Rover Navigation for Lunar-Like Terrains. Intelligent Robots and Systems 95. "Human Robot Interaction and Cooperative Robots", Proceedings. 1995 IEEE/RSJ International Conference on. 1995.
[3] A Jain, J Guineau, et al. ROAMS: planetary Surface Rover Simulation Environment. JPL TRS 1992+. 2003.
[4] T Huntsberger, H Aghazarian, et al. Rover Autonomy for Long Range Navigation and Science Data Acquisition on Planetary Surfaces. Proceedings of the 2002 IEEE International Conference on Robotics & Automation. 2002.
[5] Ji Liu, Yuechao Wang, et al. A navigation simulation system of lunar rover. Networking, Sensing and Control, 2008. ICNSC 2008. IEEE International Conference on. 2008.
[6] Yang Yan-chun´╝îBao Jin-song´╝îJin Ye,´╝îRealistic Virtual Lunar Surface Simulation Method´╝îJournal of System Simulation´╝îVol.19, No.11, 2007.
[7] Bai Bing, Research on visual navigation algorithm for lunar rover based on extended kalman filter, Dissertation for the Master Degree in Engineering,Harbin Institute of Technology, 2006.
[8] CF Olson, LH Matthies, M Schoppers, MW Maimone. Rover navigation using stereo ego-motion. Robotics and Autonomous Systems, 2003.
[9] ZHU Qi-dan, LING Yun-feng, XIA Gui-hua. Omnidirectional Vision System for Lunar Rover. Journal of Astronautics. 2007.
[10] R Volpe. Mars Rover Navigation Results Using Sun Sensor Heading Determination. Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on. 1999.
[11] Eckel G, Jones K, Domeier T. OpenGL PerformerTM getting started guide. Englewood Cliffs: Prentice-Hall, 2000.