Slope traversability analysis of reconfigurable planetary rovers

Future planetary rovers are expected to probe over steep sandy slopes, such as crater rims, where wheel slippage can be a critical issue. One solution to this issue is to mount redundant actuators on the locomotion mechanisms of the rovers such that they can actively reconfigurate themselves to adapt to the driven terrain. In this study, we propose a mechanical model of a rover based on a wheel-soil contact model combined with the classical terramechanic theory. The effects of the rover reconfiguration on its slippage tendencies are analyzed based on slope traversing experiments and numerical simulations. The validation of the proposed contact model is also discussed based on experimental and numerical simulation results. According to the experimental results, both longitudinal and lateral slippages are greatly reduced by tilting the rover in an uphill direction. The results of the numerical simulation match the experimental results quantitatively, and indicate the possible need to include a slope failure model.