Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction
نویسندگان
چکیده
منابع مشابه
Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction
This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road whee...
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A numerical study was conducted using the discrete element method (DEM) to investigate the performance and mobility impacts of rough terrain operation for small unmanned ground vehicles. The DEM simulation was validated using experimental data from two types of single-wheel tests previously published in the literature: straight-line locomotion over flat, level soil, and wheel-digging. Results f...
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Soft soil contact models developed for planetary exploration rovers play an important role in the study of rover mobility. Nowadays, most of the existing contact models are based on Bekker theory which requires the evaluation of several soil parameters usually measured via bevameter tests. However, substantial differences existing between the plate-soil contact scenario and the wheel-soil conta...
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Based on driving force for crystallization of one-component gas hydrate, in this report an expression for the supersaturation for crystallization of multicomponent gas hydrate is derived. Expressions for the supersaturation are obtained in isothermal and isobaric regimes. The results obtained are applied to the crystallization of hydrates of mixtures of methane plus ethane and can apply to ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2008
ISSN: 1729-8814,1729-8814
DOI: 10.5772/6225