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Mapping for Planetary Rovers from Terramechanics Perspective
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019In an autonomous scientific exploration system, the terrain map generated from mapping process integrates sensing information from multiple aspects and lays the base for decision making processes. With the increasing challenges in planetary exploration, equipping planetary rovers with the principles of terramechanics is becoming more and more common ...
Ruyi Zhou +5 more
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Methods for generalization of experimental results in terramechanics
Journal of Terramechanics, 2019Abstract Due to the extreme variability of soils and different tillage and settling conditions, measurements made under a single set of conditions have little practical applicability under arbitrary conditions. Results of more general usefulness require systematic measurements to be carried out over suitable ranges of the main influencing variables ...
G. Sitkei +4 more
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Terramechanics evaluation of low-pressure wheel on deformable terrain
2011 IEEE International Conference on Robotics and Automation, 2011In this paper new procedures for the measurement of mobility parameters, such as contact pressure, and an analysis of a low-pressure wheel model on deformable terrain, are presented. Because the lunar surface is covered by regolith which implies an irregular and rough terrain, the rover has difficulty in moving.
Shinichiro Narita +3 more
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Application of a Handheld TDR Meter for Terramechanical Research
2018 12th International Conference on Electromagnetic Wave Interaction with Water and Moist Substances (ISEMA), 2018The paper includes examples of application of a handheld TDR meter in terramechanical studies. The examples include monitoring of soil moisture during off-road vehicle mobility tests, determination of snow density before and after wheeling of a snow grooming machine and snow stress measurements as well as monitoring of turf moisture on a grassy ...
Jaroslaw Pytka +2 more
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Journal of Terramechanics special section on “Artificial intelligence applied to terramechanics”
Journal of Terramechanics, 2021Ramon Gonzalez, Lutz Richter
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Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover
2019 International Conference on Robotics and Automation (ICRA), 2019Planetary exploration rovers are expensive, weight constrained, and cannot be serviced once deployed. Here, we explore one way to increase their capabilities while avoiding the cost, mass, and complexity leading to these issues. We propose to re-use the large wheel actuators for trenching and other digging operations, which will enable a range of ...
Catherine Pavlov, Aaron M. Johnson 0001
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Applications of Terramechanics to Evaluation of Extraterrestrial Rover Mobility
exaly +2 more sourcesResearch on obstacle negotiation capability of tracked robot based on terramechanics
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014A great majority of current researches on obstacle negotiation focus on the critical state where CG position get over the obstacle using kinematics model. However, the models assume that the sinkage of the robot can be ignored and do not take into account whether the terrain can provide enough drawbar pull to keep the robot moving.
Liyun Li +3 more
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Development of a Virtual Terramechanics Rig (VTR) for Experimental Validation
SAE Technical Paper Series, 2006<div class="htmlview paragraph">The study of tire-terrain interaction is integral to understanding the traction characteristics of a tire operating on soft soil under various conditions. As such, there exists a need to recreate the operating conditions for the tire under controlled laboratory environments to analyze factors that will affect ...
B. J. Chan, C. Sandu, M. Ahmadian
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Scalability of Classical Terramechanics Models for Lightweight Vehicle Applications
SAE Technical Paper Series, 2013<title>ABSTRACT</title> <p>This paper investigates the validity of commonly used terramechanics models for light-weight vehicle applications while accounting for experimental variability.
Paramsothy Jayakumar +4 more
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