Performance comparison of rough‐terrain robots—simulation and hardware

Abstract

Abstract The design of a rover for a specific environment is a complex procedure which requires modeling a chassis and evaluating it with specific criteria. This is the aim of the performance optimization tool (POT) presented in this paper. The POT enables the comparison and optimization of a rover chassis in a quick and efficient way. The tool is based on a static approach including optimization of the wheel torques in order to maximize traction. Tests with real hardware were performed to validate the POT. Two different rovers, CRAB and RCL‐E, were assessed in simulation and hardware with respect to specific, well defined metrics. In simulation, their performances were compared to the rocker‐bogie‐type rover MER. CRAB and MER showed similar performance, while RCL‐E had significant problems with the benchmark obstacle. A very good match between simulation results and real measurements was achieved. © 2007 Wiley Periodicals, Inc.