ROAMS: planetary surface rover simulation environment

Abstract

This paper describes the ongoing development of the ROAMS physics-based simulator for planetary surface explo-ration rover vehicles. ROAMS includes models for various subsystems and components of the robotic vehicle includ-ing its mechanical subsystem, an electrical subsystem, inter-nal and extemal sensors, on-board resources, on-board con-trol software, the terrain environment and the terraidvehicle interactions. The ROAMS simulator can be used for stand-alone simulation, closed-loop simulations with on-board software or for operator-in-the-loop simulations. 1