Abstract Grouser-wheeled planetary rovers will continue to be used to cruise Mars in lined up missions. Active perception of wheel–terrain contact mechanics under high slip is necessary to manage time delays in teleoperations in order to prevent rovers from becoming stuck. Owing to severe soil particle flows, existing wheel–terrain contact mechanics models cannot be extended to predict the travelling performance of a driving wheel affected by high slips. Hence, wheel–terrain contact angles are measured using both a newly developed apparatus and computer-vision-based algorithm. The typically accepted entrance angle is considerably larger than the actual one, and the magnitude of ratio of the leaving angle to the actual entrance angle increases linearly with the slip ratio. Based on the actual entrance and leaving angles, wheel travelling performance can be predicted accurately using improved closed-form analytical models. Compared with experimental data, the mean value of relative error of an in-situ estimated drawbar pull can be reduced from 36.88% to 4.73%.

中文翻译：

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沙地履带履带式行星探测器的高滑轮-地面接触建模

摘要 Grouser 轮式行星探测器将继续用于在排队任务中巡航火星。主动感知高滑差下的车轮-地面接触力学对于管理遥操作中的时间延迟是必要的，以防止漫游车被卡住。由于土壤颗粒流动严重，现有的车轮-地面接触力学模型无法扩展到预测受高滑动影响的驱动轮的行驶性能。因此，使用新开发的设备和基于计算机视觉的算法测量车轮-地面接触角。通常接受的入射角远大于实际入射角，离开角与实际入射角的比值随滑移率线性增加。根据实际出入角，使用改进的封闭式分析模型可以准确预测车轮行驶性能。与实验数据相比，原位估计拉杆拉力的相对误差平均值可以从36.88%降低到4.73%。