Motion dynamics of a rover with slip-based traction model

Kazuya Yoshida, Hiroshi Hamano

Research output: Contribution to journalConference article

87 Citations (Scopus)

Abstract

This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the rover travels over natural rough terrain. Experiments are carried out with a rover test bed to observe the physical phenomena of soils and to model the traction mechanics, using the tire slip ratio as a state variable. The relationship of load-traction factor versus the slip ratio is modeled theoretically then verified by experiments, as well as specific parameters to characterize the soil are identified. A dynamic simulation model is developed considering the characteristics of wheel actuators, the mechanics of tire-soil traction, and the articulated body dynamics of a suspension mechanism. Simulations are carried out to be compared with the corresponding experimental data and verified to represent the physical behavior of a rover.

Original languageEnglish
Pages (from-to)3155-3160
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2002 Jan 1
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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