A Terrain Force Proactive Perception System for Planetary Rover on Sandy Terrains

Extraterrestrial planetary surfaces often feature non-geometric obstacles, such as loose terrain, which can affect the traversability of planetary rovers. Thorough research into the wheel-terrain Interaction (WTI) mechanism can enhance rover traversability, thereby improving the efficiency of extraterrestrial exploration missions. This paper proposes a terrain force proactive perception system for precise terrain perception ahead of the rover. The system employs a Wheel Force Transducer (WFT) to measure wheel forces, enhancing the precision and sensitivity of wheel force detection. Additionally, it uses a robotic arm to control the movement of the detection wheel, simplifying the mechanical structure while enriching the detection wheel's traversability modes. Experimental results demonstrate the effectiveness and reliability of the proposed wheel-terrain interaction proactive perception system.