Proceedings ArticleDOI
Experimental and simulation results of wheel-soil interaction for planetary rovers
Robert Bauer,W. Leung,Timothy D. Barfoot +2 more
- pp 586-591
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TLDR
There is good agreement between experimental and simulation results for wheel sinkage as a function of slip ratio; however, more investigation is needed to understand the differences observed for the drawbar pull and motor torque results.Abstract:
The ability to predict rover locomotion performance is critical during the design, validation and operational phases of a planetary robotic mission. Predicting locomotion performance depends on the ability to accurately characterize the wheel-soil interactions. In this research, wheel-soil interaction experiments were carried out on a single-wheel testbed and the results were compared with a single-wheel dynamic computer simulator which was developed in Matlab and Simulink's SimMechanics toolbox using a commercially-available wheel-soil interaction computer model called AESCO Soft Soil Tire Model (AS/sup 2/TM). Two different tire treads were used and compared in this study. There is good agreement between experimental and simulation results for wheel sinkage as a function of slip ratio; however, more investigation is needed to understand the differences observed for the drawbar pull and motor torque results.read more
Citations
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Journal ArticleDOI
Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving in deformable soil
TL;DR: In this paper, a single-wheel testbed for wheels with different radii (135 and 157.35mm), widths (110 and 165mm), lug heights (0, 5, 10, and 15mm), numbers of lugs (30, 24, 15, and 8), and lug inclination angles (0°, 5°, 10°, and 20°) under different slip ratios (0.1, 0.2, 0., 0.3, 0, 0, 0.4, 0.6, etc.).
Journal ArticleDOI
Learning and prediction of slip from visual information
TL;DR: An approach for slip prediction from a distance for wheeled ground robots using visual information as input using terrain type recognition and nonlinear regression modeling for improved navigation on steep slopes and rough terrain for Mars rovers.
Journal ArticleDOI
Traveling performance evaluation of planetary rovers on loose soil
TL;DR: The influence of a rover's weight on its performance was evaluated by conducting experiments using a monotrack rover and an inline four-wheeled rover with different rover weights, and the influence of the wheel diameter and width was quantitatively determined.
Proceedings ArticleDOI
Learning to predict slip for ground robots
TL;DR: A generic nonlinear regression framework is proposed in which the terrain type is determined from appearance and then a nonlinear model of slip is learned for a particular terrain type.
Journal ArticleDOI
Wheel slip-sinkage and its prediction model of lunar rover
TL;DR: Wang et al. as discussed by the authors investigated wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, and experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0−0.6).
References
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Book
Theory of Ground Vehicles
TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.
Journal ArticleDOI
Interaction of vehicle and terrain results from 10 years research at IKK
TL;DR: The IKK research program comprises: experimental evaluation of terrain data and formulation of analytical models for soil properties, development of models for the different soil-wheel interactions, and development of a highly sophisticated model, ORIS, for off-road interactive simulation of the driver-vehicle-terrain system and the utilization for vehicle development and mission optimization as discussed by the authors.
Proceedings ArticleDOI
Visual, tactile, and vibration-based terrain analysis for planetary rovers
TL;DR: Recent and current work at MIT in the area of onboard terrain estimation and sensing utilizing visual, tactile, and vibrational feedback is described, showing through simulation and experimental results that these methods can lead to accurate and efficient understanding of a rover's physical surroundings.