AUTHOR=Zarei Mahboubeh , Chhabra Robin 

TITLE=Advancements in autonomous mobility of planetary wheeled mobile robots: A review

JOURNAL=Frontiers in Space Technologies

VOLUME=3

YEAR=2022

URL=https://www.frontiersin.org/journals/space-technologies/articles/10.3389/frspt.2022.1080291

DOI=10.3389/frspt.2022.1080291

ISSN=2673-5075

ABSTRACT=<p>Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed planetary WMRs and surveys methods for improving their mobility and traversability. The methods are categorized based on the employed approaches ranging from signal-based and model-based estimation to terramechanics-based, machine learning, and global sensing techniques. They aim to detect vehicle motion parameters (kinematic states and forces/torques), terrain hazards (slip and sinkage) and terrain parameters (soil cohesion and friction). The limitations of these methods and recommendations for future missions are stated.</p>