Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed WMRs surveys methods for improving their mobility traversability. The are categorized based the employed approaches ranging from signal-based model-based estimation terramechanics-based, machine learning, global sensing techniques. They aim detect vehicle motion parameters (kinematic states forces/torques), terrain hazards (slip sinkage) (soil cohesion friction). limitations these recommendations future missions stated.