> For the complete documentation index, see [llms.txt](https://2023.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2023.istvs.org/submissions/papers/7523.md). # 7523 / Assessing performance of light wheeled vehicles on GRC-1 using 3D scanned footprint... Paper presented at the 16th European-African Regional Conference of the ISTVS Title: Assessing performance of light wheeled vehicles on GRC-1 using 3D scanned footprint measurements Authors: Chaitanya Sonalkar, Nikhil Ravichandran, Alexandru Vilsan, Corina Sandu, and Tony Lin Abstract: In off-road conditions, the vehicle mobility is dependent on the terrain and its properties. It is necessary to characterize the soil/terrain in order to assess its traversability and to predict the performance of the tire. If not accounted for properly, it can lead to conditions where the vehicle is stuck due to excessive sinkage or is unable to satisfactorily meet its intended performance. Navigation of wheeled vehicles on fine, dry sands, such as the Lunar Soil Simulant GRC-1, has greater challenges due to very low cohesion properties. This study aims at characterizing the terrain response of such a sandy soil to different loading and slip conditions for light ground vehicles, by studying the 3D shape of the footprint/ rut left by the tire. For this, a white light-based 3D scanner will be used to collect the data. Correlations between the normal load applied, the depth and shape of the contact area, as well as the slip conditions are made to assess their impact on the drawbar pull of the tire. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters: ``` GET https://2023.istvs.org/submissions/papers/7523.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.