An analysis of the mobility of a space exploration rover against variance of the gravity and movement speed

Abstract

In the field of space engineering, it is one of the hot topics to extend the mobility of space exploration rovers. The ability to select the mobility autonomously according to the exploration environment enables the rover autonomous exploration mission without detailed command from the control center on the earth. This leads to a reduction in mission execution duration. In this study, the physical property of the exploration condition, that is, movement speed, friction, and gravity were parameterized in terms of mobility. We investigated the relationship between the appropriate mobility of the rover and physical properties through numerical simulations and hardware experiments.