Parameter Identification of a Planetary Rover Wheel-Soil Contact Model via a Bayesian Approach

摘要

Soft soil contact models developed for planetary exploration rovers play an important roleudin the study of rover mobility. Nowadays, most of the existing contact models are basedudon Bekker theory which requires the evaluation of several soil parameters usually measuredudvia bevameter tests. However, substantial di�erences existing between the plate-soil contactudscenario and the wheel-soil contact scenario, along with large variability associated with theudbevameter experiments, give rise to large uncertainty in the choice of the model parameterudvalues. In this paper a Bayesian procedure is proposed to deal e�ectively with the presenceudof uncertainty. In the proposed approach model parameters are random variables withudprior distributions derived from bevameter measurements. The prior distributions are thenudenhanced to posterior distributions through single wheel test data. At the end the procedureudidenti�es a set of possible model parameter con�gurations that result in high experimentalnumericaludmatching.