RoverDevKit: An open, physics-grounded tradespace toolkit for conceptual design of lunar micro-rovers
Overview
This paper introduces RoverDevKit, an open-source toolkit for exploring design trade-offs in lunar micro-rovers. It couples a closed-form wheel-soil model with bottom-up models for mass, solar power, thermal survival, and traversal to serve as a fitness function for multi-objective optimization. The authors demonstrate its ability to map trade-offs among distance traveled, vehicle mass, and slope capability across different mission terrains, noting that the wheel-soil model reproduces measured drawbar pull with accuracy consistent with typical 20-30% error for this class of model.
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“adds mass. We present RoverDevKit, an open-source tradespace exploration toolkit with an evaluator that couples a closed-form wheel-soil model with bottom-up mass, solar-power, thermal-survival, and traverse models. The evaluator is fast enough to serve as the fitness function of a multi-objective genetic algorithm (NSGA-II): a search comprising 3,000 mission evaluations takes under a minute on a single laptop core.”
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- arXiv Robotics — research abstractsSignalRoverDevKit: An open, physics-grounded tradespace toolkit for conceptual design of lunar micro-rovers
This paper introduces RoverDevKit, an open-source toolkit for exploring design trade-offs in lunar micro-rovers. It couples a closed-form wheel-soil model with bottom-up models for mass, solar power, thermal survival, and traversal to serve as a fitness function for multi-objective optimization. The authors demonstrate its ability to map trade-offs among distance traveled, vehicle mass, and slope capability across different mission terrains, noting that the wheel-soil model reproduces measured drawbar pull with accuracy consistent with typical 20-30% error for this class of model.
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