Results 11 to 20 of about 200 (171)
Improving engineering models of terramechanics for planetary exploration [PDF]
Results in Engineering, 2019 This short letter proposes more consolidated explicit solutions for the forces and torques acting on typical rover wheels, that can be used as a method to determine their average mobility characteristics in planetary soils.
A.J.R. Lopez-Arreguin, S. Montenegro
doaj +2 more sources
Analytical Traction Force Model Development for Soil-Tire Interaction: Incorporating Dynamic Contact Area and Parameter Analysis Using Taguchi Method [PDF]
Biomechanism and Bioenergy Research, 2023 Three parameters of soil, vertical load and tire play a role in determining vehicle traction force in the process of soil and tire interaction. The complexity of the situation and the variability of variables such as the soil-tire contact area and ...
Behzad Golanbari, Aref Mardani
doaj +1 more source
Multibody Modeling of a New Wheel/Track Reconfigurable Locomotion System for a Small Farming Vehicle
Machines, 2022 Tracks and wheels are the most widely used running gear for the locomotion of agricultural vehicles. The main difference between the two systems is the contact area with the ground and, consequently, the pressure distribution.
Andrea Grazioso +3 more
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IET Cyber-Systems and Robotics, Volume 5, Issue 3, September 2023., 2023 Abstract Modern agricultural tractors are complex systems, in which multiple physical (and technological) domains interact to reach a wide set of competing goals, including work operational performance and energy efficiency. This complexity translates to the dynamic, multi‐domain simulation models implemented to serve as digital twins, for rapid ...
Massimo Martelli +5 more
wiley +1 more source
Journal of Field Robotics, Volume 40, Issue 5, Page 1014-1033, August 2023., 2023 Abstract This paper proposes a high‐performance path following algorithm that combines Gaussian processes (GP) based learning and feedback linearization (FBL) with model predictive control (MPC) for ground mobile robots operating in off‐road terrains, referred to as GP‐FBLMPC.
Jie Wang +2 more
wiley +1 more source
In situ slip estimation for mobile robots in outdoor environments
Journal of Field Robotics, Volume 40, Issue 3, Page 467-482, May 2023., 2023 Abstract Accounting for wheel–terrain interaction is crucial for navigation and traction control of mobile robots in outdoor environments and rough terrains. Wheel slip is one of the surface hazards that needs to be detected to mitigate against the risk of losing the robot's controllability or mission failure occurring.
Payam Nourizadeh +2 more
wiley +1 more source
Advanced Intelligent Systems, Volume 5, Issue 3, March 2023., 2023 Although very successful for planetary exploration, wheeled rovers are largely limited to benign, solid extraterrestrial terrain. Recent progress in the new field of terradynamics, which describes how locomotion emerges from interaction with complex terrain, provides the foundation for enabling biologically inspired robots to robustly traverse a ...
Chen Li, Kevin Lewis
wiley +1 more source
Research on Characteristics of Tracked Vehicle Steering on Slope
Mathematical Problems in Engineering, Volume 2021, Issue 1, 2021., 2021 A special design is needed for an unmanned tracked vehicle (UTV) to meet the requirements of off‐road environments and complex tasks. A loose surface is the main terrain for tracked vehicles in off‐road driving. Slope steering is inevitable while driving in such conditions; hence, its performance is a major concern for tracked vehicles on loose terrain.
Yu Zhang +7 more
wiley +1 more source
Cogent Engineering, 2020 In futuristic vehicle traveling simulation on a rough terrain, it is desirable to perform terramechanics analysis that reflected appropriate road surface information.
Hirotaka Suzuki, Shingo Ozaki
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Terramechanics and Path Finding
IFAC-PapersOnLine, 2016 Abstract Planetary rovers on rough terrain are likely to encounter hazards such as rocks as well as loose soil or regolith that causes the wheels to slip and potentially get stuck. These missions need autonomous navigation for avoiding these hazards.
Saurabh Chatterjee, K. Kurien Isaac
openaire +1 more source