TY - GEN
T1 - Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain
AU - Ding, Liang
AU - Nagatani, Keiji
AU - Sato, Keisuke
AU - Mora, Andres
AU - Yoshida, Kazuya
AU - Gao, Haibo
AU - Deng, Zongquan
PY - 2010
Y1 - 2010
N2 - Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel - as a result of the deformable soil - are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.
AB - Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel - as a result of the deformable soil - are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.
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U2 - 10.1109/ROBOT.2010.5509217
DO - 10.1109/ROBOT.2010.5509217
M3 - Conference contribution
AN - SCOPUS:77955804561
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4922
EP - 4927
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -