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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.
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You can also open in MATLAB Online:
Open the project file Mars_Rover_Terrain.prj to get started.
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The rover chassis and arm uses files provided by NASA and shall be used according to NASA Media Usage Guidelines.