Abstract: Ascending steep slopes is often a very difficult challenge for off-road vehicles, whether on Earth or on extraterrestrial bodies. This challenge is even greater if the surface consists of loose granular soil that does not provide much shear strength. This study investigated how the path at which a vehicle traverses a slope, specifically the angle that it is commanded to drive relative to the base of the hill (the angle of attack), can affect its performance. A vehicle was driven in loose sand…