TY - GEN
T1 - Slip ratio for lugged wheel of planetary rover in deformable soil
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
AU - Ding, Liang
AU - Gao, Haibo
AU - Deng, Zongquan
AU - Yoshida, Kazuya
AU - Nagatani, Keiji
PY - 2009/12/11
Y1 - 2009/12/11
N2 - The wheel slip ratio is an important state variable in terramechanics research and the control of planetary rovers. Definitions of the slip ratio for a wheel with lugs and methods of estimating it for all wheels onboard have seldom been attempted. This paper presents several definitions for the slip ratio of a lugged wheel, which can be interconverted by altering the shearing radius. Equations for calculating the longitudinal velocity and slip ratio of a wheel moving on rough terrain are deduced from the horizontal speed of the wheel's axle. Wheel-soil interaction experiments were performed for two types of wheels with different radii and lugs of different heights. The drawbar pull, torque, and wheel sinkage were measured using sensors. These data confirmed the effectiveness of the proposed slip ratio definition methods. Furthermore, two slip ratio estimation methods are proposed and verified: a visual information-based method by analyzing the lug traces marked on the terrain with high precision, and a terramechanics-based method in which the equations for the vertical load and torque are solved to estimate the slip ratios of all wheels.
AB - The wheel slip ratio is an important state variable in terramechanics research and the control of planetary rovers. Definitions of the slip ratio for a wheel with lugs and methods of estimating it for all wheels onboard have seldom been attempted. This paper presents several definitions for the slip ratio of a lugged wheel, which can be interconverted by altering the shearing radius. Equations for calculating the longitudinal velocity and slip ratio of a wheel moving on rough terrain are deduced from the horizontal speed of the wheel's axle. Wheel-soil interaction experiments were performed for two types of wheels with different radii and lugs of different heights. The drawbar pull, torque, and wheel sinkage were measured using sensors. These data confirmed the effectiveness of the proposed slip ratio definition methods. Furthermore, two slip ratio estimation methods are proposed and verified: a visual information-based method by analyzing the lug traces marked on the terrain with high precision, and a terramechanics-based method in which the equations for the vertical load and torque are solved to estimate the slip ratios of all wheels.
UR - https://www.scopus.com/pages/publications/76249127302
U2 - 10.1109/IROS.2009.5354565
DO - 10.1109/IROS.2009.5354565
M3 - 会议稿件
AN - SCOPUS:76249127302
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3343
EP - 3348
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -