Robust Mobility Performance of Lunar Exploration Rovers Under Multiple Wheel Failure Scenarios

This paper presents the mobility performance analysis results of two four-wheeled lunar rovers with limited resources. The experiments were conducted using two different wheel designs in rolling and inching locomotion, multiple configurations, and failure scenarios. The results establish a resilience assessment of the robots’ mobility using a one-way clutch mechanism. The study shows results on non-failure, three-wheel, two-wheel, one-wheel, and complete drive actuator failure scenarios. Distance traveled, slip ratio, energy consumption, and the possibility of reconfiguration are evaluated and compared for each case, demonstrating the robots’ resilience in challenging lunar terrains and suitability for forthcoming lunar construction missions.