CLVSim: A comprehensive framework for crewed lunar vehicle simulation—Modeling and applications
Journal of Field Robotics, vol. 42, pp. 584–603
Abstract
Abstract Crewed lunar vehicles (CLVs) significantly enhance astronauts’ exploration range and efficiency on the moon, paving the way for more comprehensive scientific research. Utilizing computer simulations offers an effective alternative to conducting experiments in low‐gravity conditions if backed up by appropriate model validation. This study introduces a detailed simulation framework CLVSim (Crewed Lunar Vehicle Simulation), including subsystems of smoothed particle hydrodynamics (SPH) soft terrain, suspensions, motors, wheels, fenders, and driver. A high‐fidelity instance of CLVSim was modeled and benchmarked based on the Lunar Roving Vehicle (LRV) from the “Apollo” program. Each subsystem was independently modeled and benchmarked based on the information from the Apollo handbook. These subsystems were then integrated to benchmark the overall operation of the CLV with experiment in a simulated lunar environment, with a mean relative error of 8.6%. The mean relative error between simulation and experiment for all subsystems and overall CLV test was less than 10%. Further applications of CLVSim were investigated. For instance, two fender designs were investigated to evaluate their effectiveness in mitigating dust emission from wheels. The vehicles’ performances were examined with four different configurations: a standard CLV on flat terrain, and CLVs with two types of suspension stiffness and torque coordination strategy driveline on rugged terrain. Comparing the maneuverability of CLVs with passive and differential drive to those with stiffer suspensions, there were approximately 9% and 7% savings in steering, respectively. The high fidelity and potential for advanced research of the simulation framework were demonstrated in areas like CLV mechanism design, dust prevention and control strategy design.
Authors 6
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Harbin Institute of Technology · State Key Laboratory of Robotics and Systems
Affiliation as printed
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China
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Harbin Institute of Technology · State Key Laboratory of Robotics and Systems
Affiliation as printed
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China
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Huaiguang Yang corresponding
Harbin Institute of Technology · State Key Laboratory of Robotics and Systems
Affiliation as printed
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China
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Sigma Engineering (Germany) · New Valve Technology (Germany)
Affiliation as printed
Large Space Structures GmbH Eching Germany
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Harbin Institute of Technology · State Key Laboratory of Robotics and Systems
Affiliation as printed
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China
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Harbin Institute of Technology · State Key Laboratory of Robotics and Systems
Affiliation as printed
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China
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