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Fast analytical models of wheeled locomotion in deformable terrain for mobile robots

Published online by Cambridge University Press:  16 March 2012

Zhenzhong Jia ,
William Smith  and
Huei Peng
Zhenzhong Jia*
Affiliation:
Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA
William Smith
Affiliation:
Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA
Huei Peng
Affiliation:
Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA
*
*Corresponding author. E-mail: zhenzjia@umich.edu
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Summary

Hazardous terrains pose a crucial challenge to mobile robots. To operate safely and efficiently, it is necessary to detect the terrain type and modify operation strategies in real-time. Fast analytical models of wheeled locomotion on deformable terrains are thus important. Based on classic terramechanics, a closed-form wheel–soil interaction model was derived by quadratic approximation of stresses along the wheel–soil interface. The bulldozing resistance and the effects of grousers were also added for more accurate prediction of wheel contact forces. A non-iterative method was proposed to estimate the entry angle, by using approximated vertical pressure acting on the wheels. The computational efficiency was improved by avoiding traditional recursive search. Real-time computation of the wheel contact forces is achieved by the terramechanics-based formula (TBF), which was developed by integrating the wheel–soil interaction model and the entry angle estimator. In addition, an automotive-inspired approach was used to integrate the TBF and the simplified vehicle dynamics model for fast simulation of mobile robots. Stability problems in numerical simulation could be avoided by this method. The above models were verified by comparing simulation results and experiment data, including single-wheel experiments and full-vehicle experiments.

Keywords

Analytical modelWheeled locomotionReal-timeTerramechanicsMobile robots
Type
Articles
Information
Robotica , Volume 31 , Issue 1 , January 2013 , pp. 35 - 53
Copyright
Copyright © Cambridge University Press 2012

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