Sspherical sailing omnidirectional rover (SSailOR): wind tunnel experimental setup and results

Abstract: This paper presents the design, instrumentation, and experimental procedures used to test the Spherical Sailing Omnidirectional Rover (SSailOR) in a controlled wind tunnel environment. The SSailOR is a wind-powered autonomous rover. This concept is motivated by the growing need for persistent and sustainable robotic systems in applications such as planetary exploration, Arctic observation, and military surveillance. SSailOR uses wind propulsion via onboard sails to enable long-duration mobility with minimal energy consumption. The spherical design simplifies mechanical complexity while enabling omnidirectional movement. Experimental tests were conducted to validate dynamic models and assess the aerodynamic performance of the rover under various configurations and environmental conditions. As a result, this design requires a co-design approach. Details of the mechanical structure, sensor integration, electronics, data acquisition system, and test parameters are presented in this paper. In addition, key observations are made that are relevant to the design optimization for further development of the rover.