On the treatment of soft soil parameter uncertainties in planetary rover mobility simulations

Gallina, Alberto; Krenn, Rainer; Schäfer, Bernd

doi:10.1016/j.jterra.2015.08.002

Cited by 12 publications

(5 citation statements)

References 31 publications

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“…The design parameters derived through the sensitivity analysis are the wheel radius r and wheel width b. In addition, based on the information from previous studies and/or development of exploration rovers as shown in Figure 11 [11,12,14,18,25,38,39,45,[49][50][51][52][53][54][55][56][57][58][59][60][61][62][63][64][65][66], we derive some relevant inequality constraint conditions, as in Equation (24). Previous or on-going development of exploration rovers provide insight into determining the consideration range for realistic wheel parameters, which can reduce the computational load for calculating the optimal results.…”

Section: Constraint Conditionmentioning

confidence: 99%

Multidisciplinary Design Optimization for a Solar-Powered Exploration Rover Considering the Restricted Power Requirement

Kim

2020

Energies

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The energy requirements of a solar-powered exploration rover constrain the mission duration, traversability, and tractive capability under the given limited usable power. Thus, exploration rover design, more specifically, rover wheel design (related to considerable energy consumption in driving), plays a significant role in the success of exploration missions. This paper describes the modeling of an operational environment and a multi-body dynamics (MBD) simulation tool based on wheel-terrain interaction model to predict the dynamic behavior on a digital elevation model (DEM) map. With these simulation environments, a multidisciplinary optimal wheel design methodology, integrating the MBD simulation tool and non-dominated sorting genetic algorithm-II (NSGA-II), is developed. Design parameters are chosen through sensitivity analysis. These multi-objective optimizations in dynamic states are conducted to obtain the optimal wheel dimension that meet the limited power condition with maximal tractive capability under the given operational environment. Furthermore, numerical and experimental verification using a single wheel testbed on lunar simulant are conducted to convincingly validate the derived optimization results. Finally, these results reveal that the proposed design methodology is an effective approach to deciding the best design parameter among a large variety of candidate design points considering the restricted power requirement.

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Section: Constraint Conditionmentioning

confidence: 99%

Multidisciplinary Design Optimization for a Solar-Powered Exploration Rover Considering the Restricted Power Requirement

Kim

2020

Energies

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“…Researchers have already recognized this need and a limited number of results are available in the literature. In particular, in [5], [10], a Bayesian procedure is utilized for terrain parameter identification, but making this approach work online is subject to future research. Other researchers have proposed an online algorithm for estimating soil cohesion and internal friction angle utilizing a linear least-squares estimator for a rover [1], [11].…”

Section: Introductionmentioning

confidence: 99%

Online terrain estimation for autonomous vehicles on deformable terrains

Dallas

Jain

Dong

et al. 2020

Journal of Terramechanics

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In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on computationally expensive algorithms that are not suitable for real-time estimation. To address these shortcomings, this work develops a reduced-order nonlinear terramechanics model as a surrogate of the Soil Contact Model (SCM) through extending a state-of-the-art Bekker model to account for additional dynamic effects. It is shown that this reduced-order surrogate model is able to accurately replicate the forces predicted by the SCM while reducing the computation cost by an order of magnitude. This surrogate model is then utilized in a unscented Kalman filter to estimate the sinkage exponent. Simulations suggest this parameter can be estimated within 4% of its true value for clay and sandy loam terrains. It is also shown that utilizing this estimated parameter can reduce the prediction errors of the future vehicle states by orders of magnitude, which could assist with achieving more robust model-predictive autonomous navigation strategies.

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“…The most prevalent models rest on concepts attributed to Bekker (1956Bekker ( , 1960Bekker ( , 1969, who proposed that the basic parameters governing the response of terrain-vehicle systems can be assessed through specific tests using a set of devices known collectively as a bevameter. A large number of studies have refined and extended Bekker's semi-empirical models, many of which are summarised in the more recent works by Osetinsky and Shmulevich (2004), Shibly et al (2005), Ding et al (2014), and Gallina et al (2016). Another large subset of empirical approaches is based on correlating vehicle performance directly to soil strength and deformability indices obtained from cone penetration tests (e.g., Freitag, 1965;Priddy, 1999;Maclaurin, 2007;Mason et al, 2016.…”

Section: Introductionmentioning

confidence: 99%

Predicting wheel forces using bearing capacity theory for general planar loads

Hambleton¹,

Stanier²

2018

Preprint

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This paper assesses the applicability of bearing capacity theory for evaluating the forces generated on wheels operating on clay under steady rolling conditions. Considering recent advances in bearing capacity theory, namely with respect to the interaction diagrams developed for general loading, a theoretical model for computing the horizontal force or torque from fundamental input parameters such as the vertical force (weight), wheel diameter, and undrained shear strength of the soil is presented. The predictions are compared with existing analytical solutions and data from laboratory testing, and reasonable agreement is demonstrated. The foremost conclusion is that bearing capacity theory can be used to obtain reasonable predictions of wheel forces analytically under any operating condition (driven, braked, or towed), provided the contact length and so-called contact angle, which defines the position of the contact interface, can be estimated. Aside from providing a rigorous and highly convenient framework for evaluating wheel forces under arbitrary loading, the analysis enables a natural physical interpretation of the mobility problem.

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On the treatment of soft soil parameter uncertainties in planetary rover mobility simulations

Cited by 12 publications

References 31 publications

Multidisciplinary Design Optimization for a Solar-Powered Exploration Rover Considering the Restricted Power Requirement

Multidisciplinary Design Optimization for a Solar-Powered Exploration Rover Considering the Restricted Power Requirement

Online terrain estimation for autonomous vehicles on deformable terrains

Predicting wheel forces using bearing capacity theory for general planar loads

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