TY - GEN
T1 - Closed-Form Analytical Model of Binding Force for Wheeled Mobile Robots with Skid-Steering Mechanism Running on Sandy Terrains
AU - Guo, Junlong
AU - Meng, Xin
AU - Ding, Liang
AU - Gao, Haibo
AU - Bo, Huang
AU - Li, Weihua
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Wheeled mobile robot (WMR) with skid-steering mechanism is popular due to its simplicity and robust performance. Dynamic models of skid-steering systems are very important to their control, and binding force is one essential component of the dynamic models. Integrating the bulldozing resistance force determined using Hegedus's theory along the wheel side face to estimate the binding force is a common way. However, due to the complexity of Hegedus's equations, it is hard to use the binding force model online. To solve this problem, the equivalent wheel sinkage is utilized to compute the bulldozing resistance force, which can then be used to develop a closed-form analytical expression of binding force. The analytical model is used to compute the binding force based on the experimental results obtained using a six-wheeled mobile robot running on a sandy terrain UM-LSS1 and the measured terrain mechanical parameters. Under the specific experimental conditions described in this paper, the binding force exerted on the wheel side face can be neglected for the cases with light vehicle and low forward velocity.
AB - Wheeled mobile robot (WMR) with skid-steering mechanism is popular due to its simplicity and robust performance. Dynamic models of skid-steering systems are very important to their control, and binding force is one essential component of the dynamic models. Integrating the bulldozing resistance force determined using Hegedus's theory along the wheel side face to estimate the binding force is a common way. However, due to the complexity of Hegedus's equations, it is hard to use the binding force model online. To solve this problem, the equivalent wheel sinkage is utilized to compute the bulldozing resistance force, which can then be used to develop a closed-form analytical expression of binding force. The analytical model is used to compute the binding force based on the experimental results obtained using a six-wheeled mobile robot running on a sandy terrain UM-LSS1 and the measured terrain mechanical parameters. Under the specific experimental conditions described in this paper, the binding force exerted on the wheel side face can be neglected for the cases with light vehicle and low forward velocity.
UR - https://www.scopus.com/pages/publications/85084298430
U2 - 10.1109/CYBER46603.2019.9066647
DO - 10.1109/CYBER46603.2019.9066647
M3 - 会议稿件
AN - SCOPUS:85084298430
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 1574
EP - 1578
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -