Book ChapterDOI
Prediction of Mechanical Soil Properties Based on Experimental and Computational Model of a Rocker Bogie Rover
S. Nithin,B. Madhevan,Rima Ghosh,G. V. P. Bharat Kumar,N. K. Philip +4 more
- pp 199-210
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TLDR
In this article, a model of a six-wheeled rocker bogie rover was fabricated and was made to travel on an unknown loose soil on earth, where a known reference value of revolutions per minute (RPM) was given to the direct current motors and the corresponding linear speed of the rover was measured.Abstract:
Lack of knowledge on the mechanical soil properties have resulted in large inaccuracy of the rover’s mobility prediction in the past. This paper deals with the prediction of mechanical properties of the soil based on the experimental and computational model of a six-wheeled rocker bogie rover. The work is divided into two parts. First, a physical model of the rover was fabricated and was made to travel on an unknown loose soil on earth. For this, a known reference value of revolutions per minute (RPM) was given to the direct current (DC) motors and the corresponding linear speed of the rover was measured. Next, a terramechanics based dynamics model was developed for a nominal value of the mechanical soil properties. The RPM needed to maintain the same linear speed as the experimental value was computed for the assumed mechanical soil properties. These soil properties were altered within a range such that the RPM obtained from the experimental and the computational results were similar to maintain the same linear velocity. The results were tested and validated for different RPM values for the predicted mechanical soil properties, which proved to be satisfactory.read more
References
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Journal ArticleDOI
Prediction of rigid wheel performance based on the analysis of soil-wheel stresses part I. Performance of driven rigid wheels
Jo-Yung Wong,A.R. Reece +1 more
TL;DR: In this article, the authors analyse the basic characteristics of the distribution of radial and tangential stresses on the soil-wheel interface of a towed wheel and predict the forces required to drag it along and the degree of skid.
Journal ArticleDOI
Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil
TL;DR: The proposed wheel-and-vehicle model demonstrates better accuracy in predicting steering maneuvers as compared to the conventional kinematics-based model.
Journal ArticleDOI
An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers
TL;DR: A simplified, closed-form version of the basic mechanics of a driven rigid wheel on low-cohesion deformable terrain is presented, which allows the formulation of an on-line terrain parameter estimation algorithm, which has important applications for planetary exploration rovers.
Proceedings ArticleDOI
Terrain estimation for high-speed rough-terrain autonomous vehicle navigation
Karl Iagnemma,Steven Dubowsky +1 more
TL;DR: In this paper, a framework for terrain characterization and identification is briefly described, composed of 1) vision-based classification of upcoming terrain, 2) terrain parameter identification via wheel-terrain interaction analysis, and 3) terrain classification based on auditory wheelterrain contact signatures.
Proceedings ArticleDOI
Experimental and simulation results of wheel-soil interaction for planetary rovers
TL;DR: 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.