https://github.com/mathworks/mars-rover-terrain-simscape

Six-wheeled electrically-driven rover that navigates uneven terrain to retrieve a sample.
https://github.com/mathworks/mars-rover-terrain-simscape

Last synced: about 2 months ago
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Six-wheeled electrically-driven rover that navigates uneven terrain to retrieve a sample.

• Host: GitHub
• URL: https://github.com/mathworks/mars-rover-terrain-simscape
• Owner: mathworks
• License: other
• Created: 2022-01-25T10:15:18.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2025-01-04T21:30:00.000Z (6 months ago)
• Last Synced: 2025-04-19T12:42:47.021Z (2 months ago)
• Language: MATLAB
• Size: 24.9 MB
• Stars: 32
• Watchers: 5
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md
  • Security: SECURITY.md

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README

        
# **Mars Rover Model in Simscape™**

Copyright 2021-2023 The MathWorks, Inc.

This example models a mars rover that navigates a path on uneven terrain 

to retrieve a sample.  

* **Contact forces** are modeled between the six driven wheels and the terrain. 

* **Path following and speed control algorithms** adjust the wheel steer angles 

  and speeds to guide the rover to the sample.

* **Inverse kinematic analysis** is used to plan the rover arm joint angle

  trajectories that will enable the arm to acquire and store the sample.

* **Electric motors** can be used to estimate rover power consumption.

View on File Exchange: [![View Mars Rover Model in Simscape on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://www.mathworks.com/matlabcentral/fileexchange/105700-mars-rover-model-in-simscape)  

You can also open in MATLAB Online: [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Mars-Rover-Terrain-Simscape&project=Mars_Rover_Terrain.prj)

Open the project file Mars_Rover_Terrain.prj to get started.

## **Mars Rover Animation Clip**

![](Images/mars_rover_terrain_sideview_clip.gif)

## **Mars Rover and Control System**

![](Overview/html/mars_rover_terrain_01.png)

## **Mars Rover Chassis and Arm Systems**

![](Overview/html/mars_rover_terrain_02.png)

## **Mars Rover Motors and Battery**

![](Overview/html/mars_rover_terrain_14.png)

To learn more about modeling and simulation with Simscape, please visit:

* [Simscape Getting Started Resources](https://www.mathworks.com/solutions/physical-modeling/resources.html)

* Product Capabilities:

   * [Simscape™](https://www.mathworks.com/products/simscape.html)

   * [Simscape Driveline™](https://www.mathworks.com/products/simscape-driveline.html)

   * [Simscape Electrical™](https://www.mathworks.com/products/simscape-electrical.html)

   * [Simscape Fluids™](https://www.mathworks.com/products/simscape-fluids.html)

   * [Simscape Multibody™](https://www.mathworks.com/products/simscape-multibody.html)

The rover chassis and arm uses files provided by 

[NASA](https://nasa3d.arc.nasa.gov/detail/M2020-Model-Rover-STLs512020) and

shall be used according to [NASA Media Usage Guidelines](https://www.nasa.gov/multimedia/guidelines/index.html).