2023
Linear Prediction of High-Slip Sinkage for Planetary Rovers' Lugged-Wheels Based on Superposition Principle
RA-L 2023
Planetary rovers with lugged-wheels are the primary equipment for Mars exploration, and as exploration missions become more complex, rovers are expected move into more challenging terrains. When moving over soft sand or slopes, lugged-wheels experience high slip and heavy sinkage, and an explicit si