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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 (2013) Parameter Identification of a Planetary Rover Wheel-soil Contact Model via a Bayesian Approach. Journal of Field Robotics. Wiley. doi: 10.1002/rob.21480. ISSN 1556-4959.

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Official URL: http://onlinelibrary.wiley.com/journal/10.1002/(ISSN)1556-4967


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 differences 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 effectively 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 identifies a set of possible model parameter configurations that result in high experimental-numerical matching. (C) 2013 Wiley Periodicals, Inc.

Item URL in elib:https://elib.dlr.de/106069/
Document Type:Article
Title:Parameter Identification of a Planetary Rover Wheel-soil Contact Model via a Bayesian Approach
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gallina, Albertoalberto.gallina (at) agh.edu.plUNSPECIFIED
Krenn, Rainerrainer.krenn (at) dlr.deUNSPECIFIED
Scharringhausen, Marcomarco.scharringhausen (at) dlr.deUNSPECIFIED
Uhl, Tadeusztuhl (at) agh.edu.plUNSPECIFIED
Schäfer, Berndbernd.schaefer (at) dlr.deUNSPECIFIED
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1002/rob.21480
Keywords:Planetary rover, Bayesian approach, Soil parameter identification, Wheel-soil contact dynamics, Single wheel test
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Space Systems > Explorationssysteme
Deposited By: Krenn, Rainer
Deposited On:14 Sep 2016 10:05
Last Modified:06 Sep 2019 15:20

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