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

研究成果: Conference contribution

42 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ4122-4127
ページ数6
DOI
出版ステータスPublished - 2009 12 11
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10 112009 10 15

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

フィンガープリント

「Parameter identification for planetary soil based on a decoupled analytical wheel-soil interaction terramechanics model」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル