Load distribution control of a six-wheeled robotic vehiecle in rouigh terrain

Taizo Kobayashi, Genya Ishigami, Keiji Nagatani, Kazuyoshi Tateyama

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

1 Citation (Scopus)

Abstract

In future lunar/planetary exploration missions, wheeled rovers will be promising robots to perform wide-area explorations. Wheeled robots, however, are prone to slip in soft and uneven terrain, and therefore, securing the mobility performance is a critical problem. This paper first describes a simple soil-wheel interaction model which enables slipratio estimation from a combination of wheel load and traction. Second, a drive control method for maintaining vehicle mobility is discussed and a six-wheeled robot which implements the control system was developed. The robot has six wheels and six vertical suspensions with built-in linear actuators. Load cells are installed between each wheel and suspension to monitor the wheel load, and the positions of wheels are individually controlled by moving the suspensions up and/or down so as to keep the desired wheel loads. In this study, a simple algorithm for distributing equivalent load to every wheel was implemented in the control system. Experiments were performed and the effectiveness of the drive control method was examined.

Original languageEnglish
Title of host publication17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011
Pages571-575
Number of pages5
Publication statusPublished - 2011 Dec 1
Event17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011 - Blacksburg, VA, United States
Duration: 2011 Nov 182011 Nov 22

Publication series

Name17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011

Other

Other17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011
CountryUnited States
CityBlacksburg, VA
Period11/11/1811/11/22

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Keywords

  • Drive control
  • Lunar/planetary exploration
  • Mobile robot
  • Rough terrain
  • Slip ratio
  • Wheel load

ASJC Scopus subject areas

  • Automotive Engineering

Cite this

Kobayashi, T., Ishigami, G., Nagatani, K., & Tateyama, K. (2011). Load distribution control of a six-wheeled robotic vehiecle in rouigh terrain. In 17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011 (pp. 571-575). (17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011).