月球漫游车仿真系统研究

Research on the Lunar Rover Simulation Platform

介绍了一个用于研究、开发月球漫游车系统的测试与仿真平台,它适用于各种不同结构的漫游车,可以检验漫游车的结构设计,对控制、传感器等子系统进行调试。该仿真平台提供了用于创建地形模块的地形组件编辑器,并提供了环境编辑器以便利用预先创建的地形模块搭建虚拟月面环境。月面环境仿真系统的实现采用了COM技术,使得该系统可以接纳各种不同结构、功能的漫游车进行仿真,同时,该仿真系统是一个分布式的仿真系统,月面环境仿真系统和漫游车系统可以运行于以网络连接的不同计算机中。

The lunar rover simulation platform discussed in this paper provides a general virtual test-bed for lunar rover research and development. The purpose of the simulation is to test the architecture, control, and sensors of rover systems. This simulation platform provides a Terrain Builder to create lunar terrain modules, and an Environment Editor to utilize these modules to create and edit virtual lunar environment. Based upon the COM technology, this simulation platform allows various rovers to join simulation, and, due to the characteristics of COM, this system is a distributed simulation system. The simulation platform and rover system can run on different computers connected with network.