Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

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

1 Citation (Scopus)

Abstract

In this paper, a trafficability analysis for the exploration rover is described. A rover traveling on loose terrain often experiences its slippages (wheel slips or vehicle sideslip), and in particular, these slips become larger when the rover traverses on sandy slopes. The authors have investigated traction mechanics of a rigid wheel of the rover on loose terrain with paying attention to slipping behaviors of the wheel. In this paper, based on our previous works regarding the wheel-terrain mechanics, we propose a Thrust-Cornering Characteristic Diagram for trafficability analyses of the rover. The thrust-cornering characteristic diagram consists of various characteristics curves of wheel forces, namely thrust and cornering forces, with various wheel slippage conditions. This diagram provides quantitative criteria for slope traversing capability of the rover on arbitrary angles of slope. The usefulness of the proposed diagram for the trafficability analysis is confirmed through slope traversal experiments using a four-wheel test bed. Further, a steering maneuver control for slope traversing situation is discussed based on the diagram.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2228-2233
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

Fingerprint

Wheels
Mechanics
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ishigami, G., Nagatani, K., & Yoshida, K. (2008). Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2228-2233). [4651186] https://doi.org/10.1109/IROS.2008.4651186

Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram. / Ishigami, Genya; Nagatani, Keiji; Yoshida, Kazuya.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2228-2233 4651186.

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

Ishigami, G, Nagatani, K & Yoshida, K 2008, Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4651186, pp. 2228-2233, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 08/9/22. https://doi.org/10.1109/IROS.2008.4651186
Ishigami G, Nagatani K, Yoshida K. Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2228-2233. 4651186 https://doi.org/10.1109/IROS.2008.4651186
Ishigami, Genya ; Nagatani, Keiji ; Yoshida, Kazuya. / Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. pp. 2228-2233
@inproceedings{a0a6c20b40894baf99ec42e9c4d0084d,
title = "Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram",
abstract = "In this paper, a trafficability analysis for the exploration rover is described. A rover traveling on loose terrain often experiences its slippages (wheel slips or vehicle sideslip), and in particular, these slips become larger when the rover traverses on sandy slopes. The authors have investigated traction mechanics of a rigid wheel of the rover on loose terrain with paying attention to slipping behaviors of the wheel. In this paper, based on our previous works regarding the wheel-terrain mechanics, we propose a Thrust-Cornering Characteristic Diagram for trafficability analyses of the rover. The thrust-cornering characteristic diagram consists of various characteristics curves of wheel forces, namely thrust and cornering forces, with various wheel slippage conditions. This diagram provides quantitative criteria for slope traversing capability of the rover on arbitrary angles of slope. The usefulness of the proposed diagram for the trafficability analysis is confirmed through slope traversal experiments using a four-wheel test bed. Further, a steering maneuver control for slope traversing situation is discussed based on the diagram.",
author = "Genya Ishigami and Keiji Nagatani and Kazuya Yoshida",
year = "2008",
doi = "10.1109/IROS.2008.4651186",
language = "English",
isbn = "9781424420582",
pages = "2228--2233",
booktitle = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

}

TY - GEN

T1 - Trafficability analysis for lunar/planetary exploration rover using thrust-cornering characteristic diagram

AU - Ishigami, Genya

AU - Nagatani, Keiji

AU - Yoshida, Kazuya

PY - 2008

Y1 - 2008

N2 - In this paper, a trafficability analysis for the exploration rover is described. A rover traveling on loose terrain often experiences its slippages (wheel slips or vehicle sideslip), and in particular, these slips become larger when the rover traverses on sandy slopes. The authors have investigated traction mechanics of a rigid wheel of the rover on loose terrain with paying attention to slipping behaviors of the wheel. In this paper, based on our previous works regarding the wheel-terrain mechanics, we propose a Thrust-Cornering Characteristic Diagram for trafficability analyses of the rover. The thrust-cornering characteristic diagram consists of various characteristics curves of wheel forces, namely thrust and cornering forces, with various wheel slippage conditions. This diagram provides quantitative criteria for slope traversing capability of the rover on arbitrary angles of slope. The usefulness of the proposed diagram for the trafficability analysis is confirmed through slope traversal experiments using a four-wheel test bed. Further, a steering maneuver control for slope traversing situation is discussed based on the diagram.

AB - In this paper, a trafficability analysis for the exploration rover is described. A rover traveling on loose terrain often experiences its slippages (wheel slips or vehicle sideslip), and in particular, these slips become larger when the rover traverses on sandy slopes. The authors have investigated traction mechanics of a rigid wheel of the rover on loose terrain with paying attention to slipping behaviors of the wheel. In this paper, based on our previous works regarding the wheel-terrain mechanics, we propose a Thrust-Cornering Characteristic Diagram for trafficability analyses of the rover. The thrust-cornering characteristic diagram consists of various characteristics curves of wheel forces, namely thrust and cornering forces, with various wheel slippage conditions. This diagram provides quantitative criteria for slope traversing capability of the rover on arbitrary angles of slope. The usefulness of the proposed diagram for the trafficability analysis is confirmed through slope traversal experiments using a four-wheel test bed. Further, a steering maneuver control for slope traversing situation is discussed based on the diagram.

UR - http://www.scopus.com/inward/record.url?scp=67649137171&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67649137171&partnerID=8YFLogxK

U2 - 10.1109/IROS.2008.4651186

DO - 10.1109/IROS.2008.4651186

M3 - Conference contribution

AN - SCOPUS:67649137171

SN - 9781424420582

SP - 2228

EP - 2233

BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ER -