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Parameter Identification of a Planetary Rover Wheel–Soil Contact Model via a Bayesian Approach

Gallina, Alberto and Krenn, Rainer and Scharringhausen, Marco and Uhl, Tadeusz and Schäfer, Bernd (2014) Parameter Identification of a Planetary Rover Wheel–Soil Contact Model via a Bayesian Approach. Journal of Field Robotics, 31 (1), pp. 161-175. Wiley. DOI: 10.1002/rob.21480 ISSN 1556-4959

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Abstract

Soft soil contact models developed for planetary exploration rovers play an important role in the study of rover mobility. Nowadays, most of the existing contact models are based on Bekker theory which requires the evaluation of several soil parameters usually measured via bevameter tests. However, substantial di�erences existing between the plate-soil contact scenario and the wheel-soil contact scenario, along with large variability associated with the bevameter experiments, give rise to large uncertainty in the choice of the model parameter values. In this paper a Bayesian procedure is proposed to deal e�ectively with the presence of uncertainty. In the proposed approach model parameters are random variables with prior distributions derived from bevameter measurements. The prior distributions are then enhanced to posterior distributions through single wheel test data. At the end the procedure identi�es a set of possible model parameter con�gurations that result in high experimentalnumerical matching.

Item URL in elib:https://elib.dlr.de/104615/
Document Type:Article
Title:Parameter Identification of a Planetary Rover Wheel–Soil Contact Model via a Bayesian Approach
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gallina, AlbertoAlberto.Gallina (at) dlr.deUNSPECIFIED
Krenn, RainerRainer.Krenn (at) dlr.deUNSPECIFIED
Scharringhausen, MarcoMarco.Scharringhausen (at) dlr.deUNSPECIFIED
Uhl, Tadeusztadeusz.uhl (at) dlr.deUNSPECIFIED
Schäfer, BerndBernd.Schaefer (at) dlr.deUNSPECIFIED
Date:January 2014
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:31
DOI :10.1002/rob.21480
Page Range:pp. 161-175
Publisher:Wiley
ISSN:1556-4959
Status:Published
Keywords:Wheel-soil interaction, parameter estimation, soil parameters
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Robotische Exploration (old)
Location: Bremen , Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Space Systems > Explorationssysteme
Deposited By: Scharringhausen, Marco
Deposited On:09 Jun 2016 11:04
Last Modified:06 Sep 2019 15:20

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