Tianyou Guo

Linear Expressions of Drawbar Pull and Driving Torque for Grouser-Wheeled Planetary Rovers Without Terrain Mechanical Parameters

Drawbar pull and driving torque are usually applied to characterize the mobility and energy consumption, respectively, of wheeled planetary rovers (WPRs) traversing sandy terrain. Owing to the complexity of the grouser-terrain interaction, neither can be modeled as a closed-form analytical expressio