Abstract For the design of space missions in the Moon and planets, analysis of mobility in robots is crucial and poor planning has led to abortion of missions in the past. To mitigate the risk of mission failure, improved algorithms relying intrinsically on fusing visual odometry with other sensory inputs are developed for slip detection and navigation. However, these approaches are significantly expensive computationally and difficult to meet for future space exploration robots. Hence, today the central question in the field is how to develop a novel framework for in situ estimation of rover mobility with available space hardware and low-computational demanding terramechanics predictors. Ranging from pure simulations up to experimentally validated studies, this paper surveys dozens of existing methodologies for detection of vehicle motion performance (wheel forces and torques), surface hazards (slip-sinkage) and other parameters (soil strenght constants) using classical terramechanics maps, and compare them with novel approaches introduced by machine learning, allowing to establish future directions of research towards distributed exteroceptive and proprioceptive sensing for visionless exploration in dynamic environments. To avoid making it challenging to collect all relevant studies expeditiously, we propose a global classification of terramechanics according most common practices in the field, allowing to form an structured framework that condense most works in the domain within three estimator categories (direct/forward or inverse terramechanics, and slip estimators). Likewise, from the experiences collected in previous MER (Mars Exploration Rover) missions, five overlooked problems are documented that will need to be addressed in next generation of planetary vehicles, along three research questions and few hypothesis that will pave the road towards future applications of machine learning-based terramechanics.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Machine learning in planetary rovers: A survey of learning versus classical estimation methods in terramechanics for in situ exploration



    Erschienen in:

    Erscheinungsdatum :

    2021-04-20


    Format / Umfang :

    17 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Longitudinal skid model for wheels of planetary exploration rovers based on terramechanics

    Gao, Haibo / Guo, Junlong / Ding, Liang et al. | Elsevier | 2013



    Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover

    Ishigami, G. / Miwa, A. / Nagatani, K. et al. | British Library Conference Proceedings | 2006



    Terramechanics models augmented by machine learning representations

    Karpman, Eric / Kövecses, Jozsef / Teichmann, Marek | Elsevier | 2023