Performance analysis and sizing guidelines of electrically-powered extraterrestrial rovers

The paper describes an analytical and experimental framework which investigates performance of electrically-driven ground vehicles powered by battery packs, with the objective of providing simple indications for preliminary sizing of rovers designed for mission on the surface of extraterrestrial bodies. For this class of missions, power is at a premium, and energy-efficient locomotion is clearly a critical issue. An analytical model for the estimate of cruise distance is derived and mobility performance is thus analyzed as a function of cruise speed, relevant vehicle parameters, soil mechanical properties, and atmospheric data. Results are then validated by numerical simulations and an experimental campaign for an Earth-based rover.