Slip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil: Definition and Estimation

被引：39

作者：

Ding, Liang ^{[1
,2
]}

Gao, Haibo ^{[1
]}

Deng, Zongquan ^{[1
]}

Yoshida, Kazuya ^{[2
]}

Nagatani, Keiji ^{[2
]}

机构：

[1] Harbin Inst Technol, Sch Mechatron Engn, State Key Lab Robot & Syst HIT, Harbin 150001, Heilongjiang, Peoples R China

[2] Tohoku Univ, Dept Aerosp Engn, Sendai, Miyagi 9808579, Japan

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

基金：

国家高技术研究发展计划(863计划);

关键词：

VISUAL ODOMETRY;

D O I：

10.1109/IROS.2009.5354565

中图分类号：

TP18 [人工智能理论];

学科分类号：

140502 [人工智能];

摘要：

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.

引用

页码：3343 / 3348

页数：6

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