The Algorithm Research of Terrain Parameter Estimation Based on Lunar Rover´s Traveling Information

Future lunar exploration requires rovers to understand lunar environment and terrain characteristic. In order to assess the traction traversability of a lunar rover, it is necessary to make terrain parameter estimation with lunar rover´s traveling information. The online estimation methods of terrain parameter attract increasing attention because of its rapidness and effectiveness. Taking full account of wheel lug effect and stress distribution between wheel and lunar soil, the original wheel-soil interaction model of rigid wheel was modified and further simplified in this paper. Two typical algorithms, the linear-least squares method and the nonlinear iterative method, were introduced and analyzed according to the improved model. Experimental data of wheel-soil interaction were combined to verify these two algorithms. The verification result indicates that two algorithms are accurate and effective. By comparison, the algorithm based on the linear-least squares method shows good stability and feasibility, which allows a lunar rover for online mechanical parameters estimation of lunar soil.