Slip Estimation for Mars Rover Zhurong Based on Data Drive
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 ind...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/3/1676 |
| _version_ | 1797488956081700864 |
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| author | Tianyi Zhang Song Peng Yang Jia He Tian Junkai Sun Chuliang Yan |
| author_facet | Tianyi Zhang Song Peng Yang Jia He Tian Junkai Sun Chuliang Yan |
| author_sort | Tianyi Zhang |
| collection | DOAJ |
| description | 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_<i>x</i>) and lateral slip (slip_<i>y</i>) 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. |
| first_indexed | 2024-03-10T00:10:41Z |
| format | Article |
| id | doaj.art-fa2f472feedc46d49a6872e9ae147f3d |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T00:10:41Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-fa2f472feedc46d49a6872e9ae147f3d2023-11-23T16:01:35ZengMDPI AGApplied Sciences2076-34172022-02-01123167610.3390/app12031676Slip Estimation for Mars Rover Zhurong Based on Data DriveTianyi Zhang0Song Peng1Yang Jia2He Tian3Junkai Sun4Chuliang Yan5School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, ChinaBeijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, ChinaBeijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, ChinaSchool of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, ChinaSchool of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, ChinaSchool of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, ChinaChina’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_<i>x</i>) and lateral slip (slip_<i>y</i>) 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.https://www.mdpi.com/2076-3417/12/3/1676Mars rover Zhuronglongitudinal sliplateral slipdata drive |
| spellingShingle | Tianyi Zhang Song Peng Yang Jia He Tian Junkai Sun Chuliang Yan Slip Estimation for Mars Rover Zhurong Based on Data Drive Applied Sciences Mars rover Zhurong longitudinal slip lateral slip data drive |
| title | Slip Estimation for Mars Rover Zhurong Based on Data Drive |
| title_full | Slip Estimation for Mars Rover Zhurong Based on Data Drive |
| title_fullStr | Slip Estimation for Mars Rover Zhurong Based on Data Drive |
| title_full_unstemmed | Slip Estimation for Mars Rover Zhurong Based on Data Drive |
| title_short | Slip Estimation for Mars Rover Zhurong Based on Data Drive |
| title_sort | slip estimation for mars rover zhurong based on data drive |
| topic | Mars rover Zhurong longitudinal slip lateral slip data drive |
| url | https://www.mdpi.com/2076-3417/12/3/1676 |
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