Using superposition of local soil flow fields to improve soil deformation in the DLR Soil Contact Model-SCM

Abstract

Locomotion on soft sandy soil poses high risks to planetary rovers. Especially events like the embedding of \textsc{Spirit} emphasize these risks. Since scientifically interesting regions may be in or behind sandy areas, tools to predict locomotion on this terrain are important. To evaluate motion on a sandy terrain a simulation of the full system with a capable terramechanical model is needed. The Soil Contact Model - (SCM) was developed with the goal of incorporating effects induced by soil deformation like rutting and slip sinkage into a multi body environment. This paper presents a novel approach to the soil deformation algorithm in SCM.