Mars Rover Model in Simscape

Six-wheeled electrically-driven rover that navigates uneven terrain to retrieve a sample.

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.

Use the "Download from GitHub" button above to access files compatible with the current release of MATLAB.

You can try this example in MATLAB Online.

Use the links below to access files compatible with earlier releases of MATLAB.

• For R2023b: Use Download button above
• For R2023a: https://github.com/mathworks/Mars-Rover-Terrain-Simscape/archive/23.1.1.1.zip
• For R2022b: https://github.com/mathworks/Mars-Rover-Terrain-Simscape/archive/22.2.1.1.zip
• For R2022a: https://github.com/mathworks/Mars-Rover-Terrain-Simscape/archive/22.1.1.1.zip
• For R2021b: https://github.com/mathworks/Mars-Rover-Terrain-Simscape/archive/21.2.1.0.zip

Open the project file Mars_Rover_Terrain.prj to get started.

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

• Simscape Getting Started Resources

Product Capabilities:

• Simscape
• Simscape Driveline
• Simscape Electrical
• Simscape Fluids
• Simscape Multibody
• Robotics System Toolbox

The rover chassis and arm uses files provided by NASA and shall be used according to NASA Media Usage Guidelines.