ISTS 2006-k-09 TERRAMECHANICS-BASED ANALYSIS ON SLOPE TRAVERSABILITY FOR A PLANETARY EXPLORATION ROVER

This paper describes slope traversability analysis for a planetary exploration rover based on a terramechanics approach. In this research, the slope traversability is defined as consisting both of slope climbing and traversing (crossing) capabilities. The authors have been investigated traction mechanics between a wheel of a rover and loose soil. Applying our advantages in the wheel-soil interactions to the slope traversability of a rover, two criteria dominating the slope traversability, named as “Mobility limit” and “Trafficability limit,” are investigated. The mobility limit is determined by a margin between the torque limit of a wheel driving motor and the resistance torque to the wheel. The trafficability limit is also determined by a relationship between the traction load of a rover and the summation of traction forces generated by wheels. Through a number of slope climbing/traversing experiments using our rover test bed, the slope traversability of the rover is evaluated by the proposed criteria.