Sequence Rehearsal and Validation for Surface Operations of the Mars Exploration Rovers

Abstract

The sequence rehearsal tool in the Rover Sequencing and Visualization Program (RSVP) is based on modeling and simulation of the multi-body mechanical systems. The methodology has been developed to support a real-time interactive graphics mode for the visualization tool, using the Configuration Kinematics (CK) and 3D terrain models. The sequence simulation is carried out using the on-board flight software modules for realistic rover behavior. It enables the scientists and rover planners to effectively develop the command sequences for rover safety and maximize the science returns of the Mars Exploration Rover (MER) mission. This paper describes the innovative numerical algorithm and the command sequence simulation of the MER mission for surface operations. Recently, the Rover Analysis Modeling Simulation algorithm [1], which computes the configuration of the robotic vehicles on rough terrain, has been developed at JPL for planetary surface exploration rover missions. Based on these and related methods, we've developed the sequence simulation tool to achieve the required accuracy and support the time-critical applications. One crucial design decision of the command sequence simulation tool is to