The Study of Wheel Driving Torque Optimization of Mars Rover with Active Suspension in Obstacle Crossing

Abstract

Aiming at the problem of excessive driving torque of Mars rover in the process of obstacle crossing, a wheel driving torque optimization algorithm of rover wheels obstacle crossing ability of Mars rover is proposed. By using the redundant degrees of freedom of Mars rover to obtain the optimal configuration in the process of obstacle crossing, and the torque can be optimized. Based on the hybrid coordinate system method, the kinematics model of the Mars rover is established. Quasi-static method is used to calculate and analyze the torques of the front wheels, the middle wheels and the rear wheels of the Mars rover respectively in the process of obstacle crossing. And on this basis, the constraints of obstacles crossing are obtained. The result shows that the driving torques are reduced by 10.26%, 43.43% and 9.77% respectively for the front wheels, middle wheels and rear wheels, by using the wheel torque optimization algorithm.