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

Gallina, Alberto and Krenn, Rainer and Schäfer, Bernd (2015) On the treatment of soft soil parameter uncertainties in planetary rover mobility simulations. Journal of Terramechanics. Elsevier. DOI: http://dx.doi.org/10.1016/j.jterra.2015.08.002 ISSN 0022-4898

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Official URL: http://www.sciencedirect.com/science/article/pii/S0022489815000725

Abstract

Nowadays soft soil–wheel contact models are widely used for predicting the mobility of rovers in off-road applications. However, most of the contact models used in computer simulations are based on semi-empirical laws for which soil parameters can be assessed only with large uncertainty. This lack of knowledge results in significant uncertainty on the rover position predictions. Applied to a planetary rover model, this paper illustrates probabilistic and non-probabilistic techniques for efficient treatment of soil parameter uncertainty for rover position predictions.

Item URL in elib:https://elib.dlr.de/99918/
Document Type:Article
Title:On the treatment of soft soil parameter uncertainties in planetary rover mobility simulations
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gallina, Albertoalberto.gallina (at) agh.edu.plUNSPECIFIED
Krenn, RainerRainer.Krenn (at) DLR.deUNSPECIFIED
Schäfer, Berndbernd.schaefer (at) dlr.deUNSPECIFIED
Date:9 September 2015
Journal or Publication Title:Journal of Terramechanics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :http://dx.doi.org/10.1016/j.jterra.2015.08.002
Publisher:Elsevier
ISSN:0022-4898
Status:Published
Keywords:Planetary rover; Terramechanics; Soft soil contact model; Uncertainty analysis
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 - Vorhaben Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Krenn, Rainer
Deposited On:01 Dec 2015 16:11
Last Modified:10 May 2016 23:35

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