Accurate estimation of drawbar pull of wheeled mobile robots traversing sandy terrain using built-in force sensor array wheel
Accurate estimation of drawbar pull of wheeled mobile robots traversing sandy terrain using built-in force sensor array wheel
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DOI：
10.1109/iros.2009.5354566
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发表时间：
2009-10
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影响因子：
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通讯作者：
K. Nagatani;Ayako Ikeda;Keisuke Sato;Kazuya Yoshida
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文献类型：
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作者：
K. Nagatani;Ayako Ikeda;Keisuke Sato;Kazuya Yoshida
用于太空探索的行星漫游车的轮子有时会在穿越沙地时打滑或与地面失去接触。为了估计这些漫游车在松散土壤上移动的行为，准确估计其车轮的牵引力非常重要。一些基于地形力学的轮土相互作用模型已被提出，用于估计此类流动车的法向应力分布和牵引杆拉力。然而，我们的实验结果（使用附在流动站轮子上的压力传感器阵列直接测量法向应力分布）表明，使用该方法获得的小型轮式流动站的法向应力分布范围比使用传统方法获得的要小得多。因此，使用传统方法估计的牵引杆拉力是不准确的。因此，在本研究中，使用压力传感器直接测量法向应力分布，以便准确估计牵引杆拉力。根据使用传感器获得的数据，可以估计通常很难测量的土壤参数。然后，使用该参数估计牵引杆拉力。使用所提出的方法估计的牵引杆拉力比使用传统方法估计的牵引杆拉力更准确。在本研究中，我们提出了一种估计拉杆拉力的新方法，并验证了该方法。
The wheels of planetary rovers that are used in space explorations sometimes slip or lose contact with the ground while traversing a sandy terrain. In order to estimate the behavior of these rovers moving on loose soil, it is very important to accurately estimate the drawbar pull of their wheels. Some wheel-soil interaction models based on terramechanics have been proposed for the estimation of the normal stress distribution and drawbar pull of such rovers. However, our experimental results (normal stress distributions are directly measured using a pressure sensor array, which is attached to the wheels of a rover) show that the distribution range of normal stress for small wheeled rovers obtained using the proposed method is considerably smaller than that obtained by using conventional method. Consequently, the drawbar pull estimated using conventional methods is inaccurate. Therefore, in this study, the normal stress distribution is directly measured using pressure sensors in order to estimate drawbar pull accurately. From the data obtained using the sensors, a soil parameter, which is generally very difficult to measure, is estimated. Then, the drawbar pull is estimated using this parameter. The drawbar pull estimated by using the proposed method is more accurate than that estimated using conventional methods. In this study, we propose a new method for the estimation of drawbar pull and also validate this method.