Rover Analysis, Modeling, and Simulations (ROAMS) is a computer program that simulates the operation of a robotic vehicle (rover) engaged in exploration of a remote planet. ROAMS is a rover-specific extension of the DARTS and Dshell programs, described in prior NASA Tech Briefs articles, which afford capabilities for mathematical modeling of the dynamics of a spacecraft as a whole and of its instruments, actuators, and other subsystems. ROAMS incorporates mathematical models of kinematics and dynamics of rover mechanical subsystems, sensors, interactions with terrain, solar panels and batteries, and onboard navigation and locomotion-control software. ROAMS provides a modular simulation framework that can be used for analysis, design, development, testing, and operation of rovers. ROAMS can be used alone for system performance and trade studies. Alternatively, ROAMS can be used in an operator-in-the-loop or flight-software closed-loop environment. ROAMS can also be embedded within other software for use in analysis and development of algorithms, or for Monte Carlo studies, using a variety of terrain models, to generate performance statistics. Moreover, taking advantage of real-time features of the underlying DARTS/Dshell simulation software, ROAMS can also be used for real-time simulations.
This program was written by Abhinandan Jain, Jeng Yen, Garrett Sohl, Robert Steele, and J. Balaram of Caltech for NASA's Jet Propulsion Laboratory. This software is available for commercial licensing. Please contact Don Hart of the California Institute of Technology at (818) 393-3425. Refer to NPO-30722.
This Brief includes a Technical Support Package (TSP).
Simulating Operations of a Planetary Rover
(reference NPO30722) is currently available for download from the TSP library.
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Overview
The document is a Technical Support Package from NASA, specifically focusing on the simulation of planetary rover operations, identified by the reference NPO-30722. It highlights the development and capabilities of the ROAMS (Rover Analysis, Modeling and Simulation) planetary rover simulator, created by the Jet Propulsion Laboratory (JPL) at the California Institute of Technology.
ROAMS is an advanced simulation tool that extends the multi-mission Darts/Dshell spacecraft simulation toolkit. It is designed to model various aspects of rover dynamics, including vehicle kinematics, mechanical subsystems, and interactions with environmental terrains. The simulator is currently utilized in several interplanetary missions, such as Cassini, Mars Pathfinder, and others, serving as a virtual testing ground for rover subsystems and components.
The capabilities of ROAMS include modeling a wide range of sensors (e.g., sun sensors, tilt sensors, clearance sensors), power resources (solar panels and batteries), and on-board navigation and locomotion control software. This modular simulation framework allows for its application in system engineering studies, technology development, and mission operations. ROAMS can operate in various modes, including stand-alone, operator-in-the-loop, or flight-software closed-loop environments. Additionally, it can be integrated within a Matlab/Simulink environment for analysis and algorithm development.
One of the key features of ROAMS is its ability to conduct Monte Carlo studies, which generate performance statistics using diverse terrain environment models. The real-time capabilities of the underlying Darts/Dshell toolkit enable ROAMS to perform real-time simulations, making it a versatile tool for both research and practical applications in planetary exploration.
The document also provides contact information for further assistance and resources available through the NASA Scientific and Technical Information (STI) Program Office, emphasizing the broader technological, scientific, and commercial applications of the developments discussed.
In summary, this Technical Support Package outlines the significance of the ROAMS simulator in advancing the understanding and operation of planetary rovers, showcasing its role in enhancing mission planning and execution for future space exploration endeavors.
