Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover

Abstract

The assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue in deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil and rover parameters to develop a model that accurately represents the interaction between the rover’s wheels and Martian soil. Through numerical simulations, this model specifically investigates the relationship between the current of the rover’s wheel drive motor and factors such as slip ratio, soil pressure parameters, and soil shear parameters. Terrestrial experiments are also conducted to verify the precision of certain numerical calculations. The proposed wheel–soil interaction model, based on wheel motor current, provides a foundation for assessing non-geometric trafficability and the inversion of planetary soil parameters.