Advance Simulation Method for Wheel-Terrain Interactions of Space Rovers: A Case Study on the UAE Rashid Rover

TL;DR

This paper introduces a validated virtual wheel-terrain interaction model for space rovers, enhancing simulation fidelity to improve rover design and control on extraterrestrial surfaces.

Contribution

It develops and experimentally validates a detailed simulation method considering various interaction factors, improving accuracy over existing models.

Findings

The model accurately predicts wheel-terrain behavior under lunar soil conditions.

Experimental validation shows improved simulation realism.

The method aids in rover design and control optimization.

Abstract

A thorough analysis of wheel-terrain interaction is critical to ensure the safe and efficient operation of space rovers on extraterrestrial surfaces like the Moon or Mars. This paper presents an approach for developing and experimentally validating a virtual wheel-terrain interaction model for the UAE Rashid rover. The model aims to improve the fidelity and capability of current simulation methods for space rovers and facilitate the design, evaluation, and control of their locomotion systems. The proposed method considers various factors, such as wheel grouser properties, wheel slippage, loose soil properties, and interaction mechanics. The model accuracy was validated through experiments on a Test-rig testbed that simulated lunar soil conditions. In specific, a set of experiments was carried out to test the behaviors acted on a Grouser-Rashid rover wheel by the lunar soil with different slip ratios of 0, 0.25, 0.50, and 0.75. The obtained results demonstrate that the proposed simulation method provides a more accurate and realistic simulation of the wheel-terrain interaction behavior and provides insight into the overall performance of the rover