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

Taizo Kobayashi, Genya Ishigami, Keiji Nagatani, Kazuyoshi Tateyama

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011
ページ571-575
ページ数5
出版ステータスPublished - 2011
外部発表はい
イベント17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011 - Blacksburg, VA, United States
継続期間: 2011 11月 182011 11月 22

出版物シリーズ

名前17th 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
国/地域United States
CityBlacksburg, VA
Period11/11/1811/11/22

ASJC Scopus subject areas

  • 自動車工学

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