An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers

被引：111

作者：

Shibly, H ^{[1
]}

Iagnemma, K ^{[1
]}

Dubowsky, S ^{[1
]}

机构：

[1] MIT, Dept Engn Mech, Cambridge, MA 02139 USA

来源：

JOURNAL OF TERRAMECHANICS | 2005年 / 42卷 / 01期

关键词：

rigid wheel mechanics; deformable terrain; mobility prediction; planetary rovers;

D O I：

10.1016/j.jterra.2004.05.002

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

A simplified, closed-form version of the basic mechanics of a driven rigid wheel on low-cohesion deformable terrain is presented. This approach allows the formulation of an on-line terrain parameter estimation algorithm, which has important applications for planetary exploration rovers. Analytical comparisons of the original and simplified equations are presented, and are shown to closely agree. Experimental results from a single-wheel testbed operating in dry sand shows that the simplified equations can be used for mobility prediction with good accuracy. Methods for incorporating the simplified equations into an on-line terrain parameter algorithm are discussed. (C) 2004 ISTVS. Published by Elsevier Ltd. All rights reserved.

引用

页码：1 / 13

页数：13

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