Parameter Identification of a Planetary Rover Wheel–Soil Contact Model via a Bayesian Approach
2014
Soft soil contact models developed for planetary exploration rovers play an important role in the study of
rover mobility. Nowadays, most of the existing contact models are based on Bekker theory, which requires the
evaluation of several soil parameters usually measured via bevameter tests. However, substantial differences
existing between the plate-soil contact scenario and the wheel-soil contact scenario, along with large variability
associated with the bevameter experiments, give rise to large uncertainty in the choice of the model parameter
values. In this paper, a Bayesian procedure is proposed to deal effectively with the presence of uncertainty. In the
proposed approach, model parameters are random variables with prior distributions derived from bevameter
measurements. The prior distributions are then enhanced to posterior distributions through single wheel test
data. At the end, the procedure identifies a set of possible model parameter configurations that result in high
experimental-numerical matching. (C) 2013 Wiley Periodicals, Inc.
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