Data-Driven Terramechanics Approach Towards a Realistic Real-Time Simulator for Lunar Rovers

TL;DR

This paper presents a data-driven terramechanics model that combines high visual fidelity with realistic terrain interaction for lunar rover simulators, enabling real-time, physically plausible lunar surface simulations.

Contribution

It introduces a regression-based terramechanics approach that accurately models wheel-soil interactions for lunar rovers, balancing realism and computational efficiency.

Findings

Accurately reproduces slip and sinkage behaviors on flat and sloped terrain.

Validates model against field test results with high accuracy.

Enhances terrain deformation and wheel trace visualization for realism.

Abstract

High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their capability to replicate lunar conditions comprehensively. This work addresses that gap by combining high visual fidelity with realistic terrain interaction for a realistic representation of rovers on the lunar surface. Because direct simulation of wheel-soil interactions is computationally expensive, a data-driven approach was adopted, using regression models for slip and sinkage from data collected in both full-rover and single-wheel experiments and simulations. The resulting regression-based terramechanics model accurately reproduced steady-state and dynamic slip, as well as sinkage behavior, on flat terrain and slopes up to 20 degrees, with validation against field test results. Additionally, improvements were made to enhance the realism of terrain deformation and wheel trace visualization. This method supports real-time applications that require physically plausible terrain response alongside high visual fidelity.