University of Surrey

Test tubes in the lab Research in the ATI Dance Research

Terrain trafficability analysis and soil mechanical property identification for planetary rovers: A survey

Chhaniyara, S, Brunskill, C, Yeomans, B, Matthews, M, Saaj, CM, Richter, L and Ransom, S (2012) Terrain trafficability analysis and soil mechanical property identification for planetary rovers: A survey Journal of Terramechanics, 49 (2). pp. 115-128.

Full text not available from this repository.


The advances in the field of robotics enabled successful exploration of the Moon and Mars. Over the years, rover missions have demonstrated deployment of various scientific payloads for robotic field geology on these extra-terrestrial bodies. The success of these missions clearly emphasizes the need to further advance rover technology in order to maximise scientific return. The success of future robotic surface exploration missions will depend on two key factors- autonomy and mobility on soft sandy and unstructured terrains. The main contribution of this paper is that it brings together vital information pertaining to various terrain characterisation techniques in to a single article. Special care is taken in structuring the paper so that all the relevant terrain characterisation methods that have been used in past planetary exploration missions and those under consideration for future space exploration missions are covered. This paper will not only lists advantages and disadvantages of various terrain characterisation techniques but also presents the methodology for evaluating and comparing terrain characterisation techniques and provides a trade-off study of existing and potential approaches that could improve the mobility of future planetary exploration rovers. This survey shows that further advances in currently deployed technology are required in order to develop intelligent, on-board sensing systems which will detect and identify near surface and sub-surface terrain properties to enhance the mobility of rovers.

Item Type: Article
Divisions : Surrey research (other units)
Authors :
Brunskill, C
Yeomans, B
Richter, L
Ransom, S
Date : 2012
DOI : 10.1016/j.jterra.2012.01.001
Contributors :
Kim, K
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 12:19
Last Modified : 24 Jan 2020 22:03

Actions (login required)

View Item View Item


Downloads per month over past year

Information about this web site

© The University of Surrey, Guildford, Surrey, GU2 7XH, United Kingdom.
+44 (0)1483 300800