Traction Processes of Wheels in Loose, Granular Soil
نویسندگان
چکیده
منابع مشابه
Slip-based Traction Control of a Planetary Rover
This paper investigates slip-based traction control of a planetary rover that travels over natural rough terrain. Special attention is made on tire-soil traction mechanics and articulated body dynamics. Experiments are carried out with a rover test bed to understand the physical behavior of tire-soil interaction and, thereby, a traction model is investigated using the tire slip ratio as a state...
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Mobile robots traversing disaster sites, extraterrestrial landscapes, and other outdoor environments will encounter terrain covered with loose stones or rubble. When traversing such granular terrain, it will be important for the robot to have a model of available traction forces that can be used to plan trajectories and control the robot’s gait as it crosses the terrain. Interaction with granul...
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