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An emerging paradigm is being embraced in the conceptualization of futureplanetary exploration missions. Ambitious objectives and increasingly demandingmission constraints stress the importance associated with faster surfacemobility. Driving speeds approaching or surpassing 1 m/s have been rarely usedand their effect on performance is today unclear. This study presentsexperimental evidence and preliminary observations on the impact thatincreasing velocity has on the tractive performance of planetary rovers.Single-wheel driving tests were conducted using two different metallic,grousered wheels-one rigid and one flexible-over two different soils, olivinesand and CaCO3-based silty soil. Experiments were conducted at speeds between0.01-1 m/s throughout an ample range of slip ratios (5-90%). Three performancemetrics were evaluated: drawbar pull coefficient, wheel sinkage, and tractiveefficiency. Results showed similar data trends among all the casesinvestigated. Drawbar pull and tractive efficiency considerably decreased forspeeds beyond 0.2 m/s. Wheel sinkage, unlike what published evidence suggested,increased with increasing velocities. The flexible wheel performed the best at1m/s, exhibiting 2 times higher drawbar pull and efficiency with 18% lowersinkage under low slip conditions. Although similar data trends were obtained,a different wheel-soil interactive behavior was observed when driving over thedifferent soils. Overall, despite the performance reduction experienced athigher velocities, a speed in the range of 0.2-0.3 m/s would enable 5-10 timesfaster traverses, compared to current rovers driving capability, while onlydiminishing drawbar pull and efficiency by 7%. The measurements collected andthe analysis presented here lay the groundwork for initial stages in thedevelopment of new locomotion subsystems for planetary surface exploration. Atthe same time...

The effects of increasing velocity on the tractive performance of planetary rovers