Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil
Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil
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DOI：
10.1002/rob.20187
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发表时间：
2007-03-01
影响因子：
8.3
通讯作者：
Yoshida, Kazuya
中科院分区：
文献类型：
--
作者：
Ishigami, Genya;Miwa, Akiko;Yoshida, Kazuya
本文提出了分析模型，以研究行星探测车在松散土壤上的操纵。该模型是基于车轮-土壤相互作用力学，或地面力学，与车轮的牵引力和干扰力的各种滑移条件进行评估。这些牵引力被分解成车轮的纵向和横向方向。后一个组成部分，被称为侧力有一个主要的影响，在表征漫游车的转向机动。本文建立了考虑侧向力的车轮-土壤力学模型，并通过单轮试验台验证了模型的有效性。整个漫游车的运动轮廓的数值评估，将车轮土壤模型到一个铰接的多体模型，描述了车辆的身体和底盘的运动动力学。利用四轮月球车试验台，在模拟月壤（月壤模拟物）上进行了不同转向角下的转向机动试验。实验结果与使用相应的模型参数的仿真结果进行了比较。与传统的基于运动学的模型相比，所提出的车轮和车辆模型在预测转向操纵方面表现出更好的准确性。(c)2007 Wiley Periodicals，Inc.
This paper presents analytical models to investigate the steering maneuvers of planetary exploration rovers on loose soil. The models are based on wheel-soil interaction mechanics, or terramechanics, with which the traction and disturbance forces of a wheel are evaluated for various slip conditions. These traction forces are decomposed into the longitudinal and lateral directions of the wheel. The latter component, termed the side force has a major influence in characterizing the steering maneuvers of the rover. In this paper, the wheel-soil mechanics models are developed with particular attention to the side force and the validity of the model is confirmed by using a single-wheel test bed. The motion profile of the entire rover is numerically evaluated by incorporating the wheel-soil models into an articulated multibody model that describes the motion dynamics of the vehicle's body and chassis. Steering maneuvers are investigated under different steering angles by using a four-wheel rover test bed on simulated lunar soil (regolith simulant). The experimental results are compared with the simulation results using the corresponding model parameters. The proposed wheel-and-vehicle model demonstrates better accuracy in predicting steering maneuvers as compared to the conventional kinematics-based model. (c) 2007 Wiley Periodicals, Inc.