Mars Rover Simulation

using
MATLAB & Simulink
by
The Curious Martians
Assumptions
1) The rover experiences the same external
physical conditions while travelling by the
circular section of the path, as experienced in
the case of the straight path. In other words,
the centripetal force experienced by the rover
is neglected.
2) The wheels of the rover are assumed to
provide sufficient friction; that is, there is
perfect rolling without slipping for each and
every wheel.
3) The surface on which our rover travels, is
smooth, and absolutely horizontal. The speed of
wind is assumed to be zero, though there is air
resistance.
 The Model

This model has been generated using Matlab, Simulink,

and Simscape
 Detailed Schematics

Duty Cycle Signal Input→Gain→PS sensor→PWM Voltage Controller→H-Bridge→DC Motor→Gear train→Magic

Tyre
Detailed Schematics
Detailed Schematics
 Observations

For the first section of the track, the straight line, we

start with initial velocity 0 m/s, and attain a maximum
velocity of 0.69 m/s, after six seconds. After this, we
decelerate the rover, to finally make it attain 0 m/s
at the end of the straight line, which will happen in the
last six seconds.
 Observations

For the initial 6 seconds, and the final six seconds, our
rover will travel 2.89 metres, making a total of 5.78, where
the acceleration is not zero. Thus, our rover will travel
294.22 metres with a constant, maximum velocity of 0.69 m/s,
which will take 426.4 seconds.
Thus, the total time required to cover the straight section of
the track is, 438.4 seconds
 Observations
For the semicircular path, we follow the same process, but
here the track length is 471 m.
Applying the same calculations for the circular path, the
rover will travel with a maximum velocity of 0.69m/s, for
465.22 metres, which will take 674.2 seconds, making the
traversal of the circular section a matter of
686.2 seconds.
 Observations
Maximum power attained by our rover is, 129.7 W, whenever
it attains the maximum velocity.
Our rover will consume an energy of 0.33 Wh for the first
six seconds of both the circular, and straight tracks.
Net energy consumed = (0.33*4) + ((674.2*129.7) +
(426.4*129.7))/3600 = 40.97 Wh
 Possible Modifications
The rover we have designed is a very simple one. It can,
however be easily be extended to incorporate the following
Factors:
● Friction in the Gear Drivetrain used for the wheels.
● Slipping between the wheels of the rover, and the ground
● Centripetal acceleration while moving along the circular
track.
● A cooling system to cool down the motor after crossing a
threshold of continuous performance at maximum RPM.
 Conclusion

We have only designed a mathematical model for a functional

Mars rover, and simulated it using Matlab and Simulink.
However, there is much more to be done.
We need to design the components required in our rover, have
them manufactured, design and optimise the energy source of
our rover, design the circuits, and finally program our rover
to detect obstacles.
The End
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