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

被引：9

作者：

Gallina, Alberto ^{[1
]}

Krenn, Rainer ^{[2
]}

Schaefer, Bernd ^{[2
]}

机构：

[1] AGH Univ Sci & Technol, Dept Robot & Mechatron, PL-30059 Krakow, Poland

[2] German Aerosp Ctr DLR, Robot & Mechatron Ctr, D-82234 Wessling, Germany

来源：

JOURNAL OF TERRAMECHANICS | 2016年 / 63卷

关键词：

Planetary rover; Terramechanics; Soft soil contact model; Uncertainty analysis; FORCE PREDICTION; IDENTIFICATION; MODEL; TERRAMECHANICS;

D O I：

10.1016/j.jterra.2015.08.002

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

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. (C) 2015 ISTVS. Published by Elsevier Ltd. All rights reserved.

引用

页码：33 / 47

页数：15