Resilient mobility of a four-wheeled planetary rover with active suspension

This article presents a comprehensive study of the resilient mobility of a four-wheeled lunar rover under various internal and external environmental conditions. The proposed and analyzed mobility approach enhances the adaptability and robustness of a rover with limited resources in harsh environments. An innovative omnidirectional inching locomotion technique was introduced to reinforce access to challenging terrain. This technique was compared with conventional locomotion methods through drawbar pull tests and analyzes using resistive force theory (RFT). Emphasis was placed on functional isolation during actuator failure, achieved by implementing a one-way clutch mechanism. This resilient design ensures the core functionality of the rover and mitigates resource wastage in critical scenarios. The experimental and analytical results highlight the capability of the rover to manage potential actuator failures, offering valuable insights into its adaptability to demanding lunar-like environments. This work demonstrates the capacity of the rover to overcome challenges and efficiently navigate diverse terrain, making it a promising candidate for lunar exploration and construction.