TOWARDS HIGH-FIDELITY ANALYSIS ON WHEELED MOBILE ROBOT ON SOFT TERRAIN USING HARDWARE-IN-THE-LOOP SIMULATOR

Sora Ishikawa, Genya Ishigami

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

Abstract

This paper introduces a Hardware-In-the-Loop Simulation (HILS) framework for a wheeled mobile robot traveling on sandy terrain. The HILS is a hybrid method that incorporates an experimental approach into a numerical simulation. The HILS in our work employs a single-wheel testbed for the experimental setup where the traction force of the wheel on soft soil under various slip conditions is measured. The dynamics of the robot vehicle in response to the wheel traction force is calculated by a simple dynamics model based on Newton’s equation of motion. A key technique of the HILS developed in this work is the damping coefficient implemented in the dynamics model. To verify the fidelity and stability of the HILS, wheel driving tests with the HILS are conducted in the following process: first, a wheel driving data (wheel translational velocity, wheel traction force, and wheel slip) with various input parameters (damping coefficient and wheel angular velocity) is experimentally measured only using the wheel testbed. Subsequently, another wheel driving data is measured while the HILS calculates the dynamic response of the wheel in accordance with the corresponding external forces. The validity of the HILS is compared based on the difference between the actual and calculated wheel driving data. In this process, the value of the damping coefficient is determined such that the dynamic response well matches with the actual driving data. Furthermore, wheel driving data with external disturbances to the wheel is experimentally simulated using the HILS.

Original languageEnglish
Title of host publicationProceedings of the 20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021
EditorsMassimo Martelli, Jozsef Kovecses, Mohit Shenvi, Jenna Dixon
PublisherInternational Society for Terrain-Vehicle Systems
ISBN (Electronic)9781942112525
Publication statusPublished - 2021
Event20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021 - Virtual, Online
Duration: 2021 Sep 272021 Sep 29

Publication series

NameProceedings of the 20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021

Conference

Conference20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021
CityVirtual, Online
Period21/9/2721/9/29

Keywords

  • Hardware-in-the-loop simulation
  • Planetary rover
  • Soft soil

ASJC Scopus subject areas

  • Automotive Engineering

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