Title: MOBILITY PREDICTION OF ROVERS ON SOFT TERRAIN: EFFECTS OF WHEEL- AND TOOL-INDUCED TERRAIN DEFORMATIONS
Abstract: Adaptive Mobile Robotics, pp. 647-654 (2012) No AccessMOBILITY PREDICTION OF ROVERS ON SOFT TERRAIN: EFFECTS OF WHEEL- AND TOOL-INDUCED TERRAIN DEFORMATIONSDANIEL HOLZ, ALI AZIMI, MAREK TEICHMANN and JOZSEF KÖVECSESDANIEL HOLZCM-Labs Simulations Inc., Canada, ALI AZIMIMcGill University, Canada, MAREK TEICHMANNCM-Labs Simulations Inc., Canada and JOZSEF KÖVECSESMcGill University, Canadahttps://doi.org/10.1142/9789814415958_0083Cited by:1 PreviousNext AboutSectionsPDF/EPUB ToolsAdd to favoritesDownload CitationsTrack CitationsRecommend to Library ShareShare onFacebookTwitterLinked InRedditEmail Abstract: Planetary rovers play a key role in modern space exploration. Remotely controlled and operated on unknown terrain, these vehicles run the risk of being damaged, immobilized or simply used in inefficient ways. Their performance depends not only on their design and motion characteristics but also on the performed operation being adequate for the situation and environment they are momentarily in. Consequently, accurate prediction of a specific rover's performance in different situations and environments is a pre-requisite for their efficient and successful deployment. In this work, we combine physical models from terramechanics and soil mechanics to model a rover in highly complex operations, such as excavation tasks with a mounted bulldozer blade. We consider the impact of both wheel–ground and tool–ground interactions on the rover motion system by creating a fully coupled simulation of the dynamics of the rover and its environment. In simulations we show that the rover's mobility and its trajectory are impacted when modifying the way the rover is operated – a direct result of changes in rover–ground interaction. FiguresReferencesRelatedDetailsCited By 1Design of highly realistic virtual environment for excavator simulatorTao Ni, Hongyan Zhang, Changzhi Yu, Dingxuan Zhao and Songyue Liu1 Oct 2013 | Computers & Electrical Engineering, Vol. 39, No. 7 Adaptive Mobile RoboticsMetrics History PDF download
Publication Year: 2012
Publication Date: 2012-07-18
Language: en
Type: book-chapter
Indexed In: ['crossref']
Access and Citation
Cited By Count: 2
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