Estimating wheel slip for a forest machine using RTK-DGPS
نویسندگان
چکیده
منابع مشابه
Estimating wheel slip for a forest machine using RTK-DGPS
Wheel slip may increase the risk for wheel rutting and tear up ground vegetation and superficial roots and thereby decreasing the bearing capacity of the ground, but also reducing the growth of nearby standing forest trees. With increased slip, more energy is consumed for making wheel ruts in the ground, with increased fuel consumption as a result. This paper proposes a novel method for measuri...
متن کاملEstimating wheel slip for a forest machine Pre-study report
This pre-study examines needs and measurements of wheel slip for a forest machine. The study was divided in two major parts. One part was a literature study of relevant work previously done in the area of wheel slip The other part was preliminary field tests carried out on a Valmet 830 forwarder. The report is organised as follows: Section 2 gives a brief overview of the motives for studying sl...
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A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. Te inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control also developed ...
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ژورنال
عنوان ژورنال: Journal of Terramechanics
سال: 2012
ISSN: 0022-4898
DOI: 10.1016/j.jterra.2012.08.003