Analytical modeling and multi-objective optimization (MOO) of slippage for wheeled mobile robot (WMR) in rough terrain

被引：8

作者：

Ani, O. A. ^{[1
]}

Xu He ^{[1
]}

Xue Kai ^{[1
]}

Liu Shao-gang ^{[1
]}

Zhang Zhen-yu ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin 150001, Peoples R China

来源：

JOURNAL OF CENTRAL SOUTH UNIVERSITY | 2012年 / 19卷 / 09期

基金：

中国国家自然科学基金; 高等学校博士学科点专项科研基金;

关键词：

autonomous wheeled mobile robot; terramechanics; traction; motion control; soil shear failure; drawbar pull; VEHICLE; ROVER;

D O I：

10.1007/s11771-012-1297-6

中图分类号：

TF [冶金工业];

学科分类号：

080601 [冶金物理化学];

摘要：

Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots (AWMR) in rough terrain. A model and analysis of relationship among wheel slippage (S), rotation angle (theta), sinkage (z) and wheel radius (r) are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.

引用

页码：2458 / 2467

页数：10

共 29 条

[1]

Ani O. A., 2011, Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation (ICMA 2011), P154, DOI 10.1109/ICMA.2011.5985648

[2]

ASAE-American Society of Agricultural Engineers, 1983, UN TERM TRACT AGR TR, P190

[3]

Bekker M.G., 1956, Theory of Land Locomotion

[4]

Bekker M. G., 1960, Off-the-Road Locomotion

[5]

CHI-KEONG G, 2009, EVOLUTIONARY MULTIOB, P1

[6]

Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving in deformable soil [J].

Ding, Liang ;

Gao, Haibo ;

Deng, Zongquan ;

Nagatani, Keiji ;

Yoshida, Kazuya .

JOURNAL OF TERRAMECHANICS, 2011, 48 (01) :27-45

[7]

Fuke Y, 1996, IEEE INT CONF ROBOT, P411, DOI 10.1109/ROBOT.1996.503811

[8]

Slip-based tire road friction estimation [J].

Gustafsson, F .

AUTOMATICA, 1997, 33 (06) :1087-1099

[9]

Simulating stress-sinkage under a plate sinkage test using a viscoelastic 2D axisymmetric finite element soil model [J].

Hemmat, A. ;

Nankali, N. ;

Aghilinategh, N. .

SOIL & TILLAGE RESEARCH, 2012, 118 :107-116

[10]

IAGNEMMA K, 2002, P 8 INT S EXP ROB SA, P628

← 1 2 3 →