Parameter identification and contact modeling for planetary wheeled rovers in soft soil
نویسندگان
چکیده
A challenging topic in the field of planetary rover simulations is the modeling of the contact between the rover and its environment. Multibody simulation models are used to represent the kinematic structure of a wheeled rover, but its interface with the environment relies on sand-wheel contact dynamics. A new advanced contact model is presented and tuned according to single wheel experiments by comparison between experimental data and predicted values. Finally, stochastic model updating is performed to assess parameter uncertainty level due to soil properties. As a result, the mean percentage error of the tuned model is inside the acceptable range, but additional improvements in the rover sinkage computation model are still desired.
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