Steering characteristics of a rigid wheel for exploration on loose soil

Kazuya Yoshida, Genya Ishigami

研究成果: Conference contribution

43 被引用数 (Scopus)

抄録

In this paper, steering characteristics of a rigid wheel (tire) on loose soil is investigated. Based on terra-mechanic analysis, the lateral force characteristics of a driving wheel is modeled as a function of slip ratio and slip angle. The model suggests that the lateral force decreases according to the increment of the slip ratio and increases according to the increment of the slip angle. Such characteristics are confirmed and evaluated by experiments using simulated lunar-surface soil, called Lunar Regolith Simulant. The proposed model is validated with the experimental results in reasonable precision. A model that properly predicts the lateral force will be useful for future practical issues, such as controlling the steering motion of a vehicle for following a desired trajectory in the operational phase, and also to compare the feasibility and/or stability of candidate steering maneuvers in the motion planning phase.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ3995-4000
ページ数6
出版ステータスPublished - 2004 12月 1
外部発表はい
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9月 282004 10月 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
国/地域Japan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • 工学(全般)

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