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

Alberto Gallina, Rainer Krenn, Bernd Schäfer
Journal of Terramechanics, Volume 63, February 2016, Pages 33-47, ISSN 0022-4898
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.
Keywords: Planetary rover; Terramechanics; Soft soil contact model; Uncertainty analysis