Dynamic Simulations and Control of a Group of Wind Driven Martian Rovers [invited]

A group of wind driven rovers inspired by tumbleweeds can be used to explore vast regions of Mars. This paper predicts the mobility of tumbleweed rovers in a Mars rock field and presents effective mechanisms for the control of individual rovers and a rover group. Wind tunnel experiments were performed to determine the drag coefficients for several tumbleweed rover designs. A three-dimensional dynamic model was used to quantify tumbleweed obstacle navigation and control mechanisms. Results from the dynamic model were used as a physics anchor for a stochastic simulation of multiple tumbleweed rovers. The stochastic simulation uses a swarming algorithm to allow the rovers to disperse from a common location and systematically explore the surface of Mars.