Parameter identification for planetary soil based on a decoupled analytical wheel-soil interaction terramechanics model

Liang Ding, Kazuya Yoshida, Keiji Nagatani, Haibo Gao, Zongquan Deng

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

41 Citations (Scopus)

Abstract

Identifying planetary soil parameters is not only an important scientific goal, but also necessary for exploration rover to optimize its control strategy and realize high-fidelity simulation. An improved wheel-soil interaction mechanics model is introduced, and it is then simplified by linearizing the normal stress and shearing stress to derive closed-form analytical equations. Eight unknown soil parameters are divided into three groups. The highly complicated coupled equations, each of which includes all the unknown soil parameters, are then decoupled. Each decoupled equation contains one or two groups of soil parameters, making it feasible to make a step-by-step identification of all the unknown parameters that characterize the soil. Wheel-soil interaction experiments were performed for six kinds of wheels with different dimensions and wheel lugs on simulated planetary soil. Soil parameters are identified with the measured data to validate the method, which are then used to predict wheel-soil interaction forces and torque, with a less than 10% margin of error. The improved model, decoupled analytical model, and soil-characterizing method can play important roles in the development of both the planetary exploration rovers and the terrestrial vehicles.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4122-4127
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

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 'Parameter identification for planetary soil based on a decoupled analytical wheel-soil interaction terramechanics model'. Together they form a unique fingerprint.

  • Cite this

    Ding, L., Yoshida, K., Nagatani, K., Gao, H., & Deng, Z. (2009). Parameter identification for planetary soil based on a decoupled analytical wheel-soil interaction terramechanics model. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4122-4127). [5354538] https://doi.org/10.1109/IROS.2009.5354538