Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Liang Ding, Keiji Nagatani, Keisuke Sato, Andres Mora, Kazuya Yoshida, Haibo Gao, Zongquan Deng

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

40 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4922-4927
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

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

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  • Cite this

    Ding, L., Nagatani, K., Sato, K., Mora, A., Yoshida, K., Gao, H., & Deng, Z. (2010). Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 4922-4927). [5509217] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509217