Accurate estimation of drawbar pull of wheeled mobile robots traversing sandy terrain using built-in force sensor array wheel

Keiji Nagatani, Ayako Ikeda, Keisuke Sato, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Citations (Scopus)

Abstract

The wheels of planetary rovers that are used in space explorations sometimes slip or lose contact with the ground while traversing a sandy terrain. In order to estimate the behavior of these rovers moving on loose soil, it is very important to accurately estimate the drawbar pull of their wheels. Some wheel-soil interaction models based on terramechanics have been proposed for the estimation of the normal stress distribution and drawbar pull of such rovers. However, our experimental results (normal stress distributions are directly measured using a pressure sensor array, which is attached to the wheels of a rover) show that the distribution range of normal stress for small wheeled rovers obtained using the proposed method is considerably smaller than that obtained by using conventional method. Consequently, the drawbar pull estimated using conventional methods is inaccurate. Therefore, in this study, the normal stress distribution is directly measured using pressure sensors in order to estimate drawbar pull accurately. From the data obtained using the sensors, a soil parameter, which is generally very difficult to measure, is estimated. Then, the drawbar pull is estimated using this parameter. The drawbar pull estimated by using the proposed method is more accurate than that estimated using conventional methods. In this study, we propose a new method for the estimation of drawbar pull and also validate this method.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2373-2378
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Accurate estimation of drawbar pull of wheeled mobile robots traversing sandy terrain using built-in force sensor array wheel'. Together they form a unique fingerprint.

  • Cite this

    Nagatani, K., Ikeda, A., Sato, K., & Yoshida, K. (2009). Accurate estimation of drawbar pull of wheeled mobile robots traversing sandy terrain using built-in force sensor array wheel. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2373-2378). [5354566] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354566