Terramechanics-based analysis and traction control of a lunar/planetary rover

Kazuya Yoshida, Toshinobu Watanabe, Noriyuki Mizuno, Genya Ishigami

Research output: Chapter in Book/Report/Conference proceedingChapter

12 Citations (Scopus)

Abstract

This paper presents analysis of traction mechanics and control of a lunar/planetary rover based on the models obtained from terramechanics. A case study has been conducted for a rover test bed to negotiate a slope of loose soil such as regolith that covers most of lunar surface. The tire traction force is modeled as a function of the vertical load and slip ratio of the wheel. Bekker's terramechanic formulae are employed to derive an improved practical model that calculates net traction force, referred to as Drawbar Pull, with a reasonable precision. Experiments are carried out in two phases. First, the physical behavior of a wheel on loose soil is observed using a single-wheel test bed, then the empirical parameters of the tire and soil are identified. Second, the slope climbing capability is studied by using a rover test bed that has independently driven four wheels. The traction margin and slip margin are defined to be used in a traction control. In the slope experiment, it turned out that the climbing capability was saturated at 14 degrees due to the lack of enough driving torque in wheels. But theoretical investigation suggests that this is not the limitation of terrain trafficability and climbing capability can be improved by increased driving torque and proper load distribution.

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
Pages225-234
Number of pages10
Volume24
DOIs
Publication statusPublished - 2006
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
Volume24
ISSN (Print)16107438
ISSN (Electronic)1610742X

Fingerprint

Traction control
Wheels
Soils
Torque
Traction (friction)
Tires
Loads (forces)
Mechanics
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Yoshida, K., Watanabe, T., Mizuno, N., & Ishigami, G. (2006). Terramechanics-based analysis and traction control of a lunar/planetary rover. In Springer Tracts in Advanced Robotics (Vol. 24, pp. 225-234). (Springer Tracts in Advanced Robotics; Vol. 24). https://doi.org/10.1007/10991459_22

Terramechanics-based analysis and traction control of a lunar/planetary rover. / Yoshida, Kazuya; Watanabe, Toshinobu; Mizuno, Noriyuki; Ishigami, Genya.

Springer Tracts in Advanced Robotics. Vol. 24 2006. p. 225-234 (Springer Tracts in Advanced Robotics; Vol. 24).

Research output: Chapter in Book/Report/Conference proceedingChapter

Yoshida, K, Watanabe, T, Mizuno, N & Ishigami, G 2006, Terramechanics-based analysis and traction control of a lunar/planetary rover. in Springer Tracts in Advanced Robotics. vol. 24, Springer Tracts in Advanced Robotics, vol. 24, pp. 225-234. https://doi.org/10.1007/10991459_22
Yoshida K, Watanabe T, Mizuno N, Ishigami G. Terramechanics-based analysis and traction control of a lunar/planetary rover. In Springer Tracts in Advanced Robotics. Vol. 24. 2006. p. 225-234. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/10991459_22
Yoshida, Kazuya ; Watanabe, Toshinobu ; Mizuno, Noriyuki ; Ishigami, Genya. / Terramechanics-based analysis and traction control of a lunar/planetary rover. Springer Tracts in Advanced Robotics. Vol. 24 2006. pp. 225-234 (Springer Tracts in Advanced Robotics).
@inbook{81e87c41b0664f65b6bd77365f71a125,
title = "Terramechanics-based analysis and traction control of a lunar/planetary rover",
abstract = "This paper presents analysis of traction mechanics and control of a lunar/planetary rover based on the models obtained from terramechanics. A case study has been conducted for a rover test bed to negotiate a slope of loose soil such as regolith that covers most of lunar surface. The tire traction force is modeled as a function of the vertical load and slip ratio of the wheel. Bekker's terramechanic formulae are employed to derive an improved practical model that calculates net traction force, referred to as Drawbar Pull, with a reasonable precision. Experiments are carried out in two phases. First, the physical behavior of a wheel on loose soil is observed using a single-wheel test bed, then the empirical parameters of the tire and soil are identified. Second, the slope climbing capability is studied by using a rover test bed that has independently driven four wheels. The traction margin and slip margin are defined to be used in a traction control. In the slope experiment, it turned out that the climbing capability was saturated at 14 degrees due to the lack of enough driving torque in wheels. But theoretical investigation suggests that this is not the limitation of terrain trafficability and climbing capability can be improved by increased driving torque and proper load distribution.",
author = "Kazuya Yoshida and Toshinobu Watanabe and Noriyuki Mizuno and Genya Ishigami",
year = "2006",
doi = "10.1007/10991459_22",
language = "English",
isbn = "3540328017",
volume = "24",
series = "Springer Tracts in Advanced Robotics",
pages = "225--234",
booktitle = "Springer Tracts in Advanced Robotics",

}

TY - CHAP

T1 - Terramechanics-based analysis and traction control of a lunar/planetary rover

AU - Yoshida, Kazuya

AU - Watanabe, Toshinobu

AU - Mizuno, Noriyuki

AU - Ishigami, Genya

PY - 2006

Y1 - 2006

N2 - This paper presents analysis of traction mechanics and control of a lunar/planetary rover based on the models obtained from terramechanics. A case study has been conducted for a rover test bed to negotiate a slope of loose soil such as regolith that covers most of lunar surface. The tire traction force is modeled as a function of the vertical load and slip ratio of the wheel. Bekker's terramechanic formulae are employed to derive an improved practical model that calculates net traction force, referred to as Drawbar Pull, with a reasonable precision. Experiments are carried out in two phases. First, the physical behavior of a wheel on loose soil is observed using a single-wheel test bed, then the empirical parameters of the tire and soil are identified. Second, the slope climbing capability is studied by using a rover test bed that has independently driven four wheels. The traction margin and slip margin are defined to be used in a traction control. In the slope experiment, it turned out that the climbing capability was saturated at 14 degrees due to the lack of enough driving torque in wheels. But theoretical investigation suggests that this is not the limitation of terrain trafficability and climbing capability can be improved by increased driving torque and proper load distribution.

AB - This paper presents analysis of traction mechanics and control of a lunar/planetary rover based on the models obtained from terramechanics. A case study has been conducted for a rover test bed to negotiate a slope of loose soil such as regolith that covers most of lunar surface. The tire traction force is modeled as a function of the vertical load and slip ratio of the wheel. Bekker's terramechanic formulae are employed to derive an improved practical model that calculates net traction force, referred to as Drawbar Pull, with a reasonable precision. Experiments are carried out in two phases. First, the physical behavior of a wheel on loose soil is observed using a single-wheel test bed, then the empirical parameters of the tire and soil are identified. Second, the slope climbing capability is studied by using a rover test bed that has independently driven four wheels. The traction margin and slip margin are defined to be used in a traction control. In the slope experiment, it turned out that the climbing capability was saturated at 14 degrees due to the lack of enough driving torque in wheels. But theoretical investigation suggests that this is not the limitation of terrain trafficability and climbing capability can be improved by increased driving torque and proper load distribution.

UR - http://www.scopus.com/inward/record.url?scp=33748951591&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33748951591&partnerID=8YFLogxK

U2 - 10.1007/10991459_22

DO - 10.1007/10991459_22

M3 - Chapter

AN - SCOPUS:33748951591

SN - 3540328017

SN - 9783540328018

VL - 24

T3 - Springer Tracts in Advanced Robotics

SP - 225

EP - 234

BT - Springer Tracts in Advanced Robotics

ER -