Fast Analytical Models of Wheel-Soil Interactions

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dc.contributor.author Jia, Zhenzhong
dc.contributor.author Peng, Huei
dc.date.accessioned 2012-10-04T21:28:43Z
dc.date.available 2012-10-04T21:28:43Z
dc.date.issued 2012-10-04
dc.identifier.uri http://hdl.handle.net/2027.42/93779
dc.description The basic principle of the fast analytical models and some related demos (mainly experimental verifications) are explained (in great detail) in "Fast Analytical Models of Wheeled Locomotion in Deformable Terrain for Mobile Robots", Zhenzhong Jia, William Smith and Huei Peng, Robotica, FirstView Articles, October 2012, pp 1-19 DOI: http://dx.doi.org/10.1017/S0263574712000069 . It is highly recommended to read the paper carefully before you getting started with the source code and demos. en_US
dc.description.abstract Hazardous terrains pose a crucial challenge to mobile robots. To operate safely and efficiently, it is necessary to detect the terrain type and modify operation strategies in real-time. Fast analytical models of wheeled locomotion on deformable terrains are thus important. Based on classic terramechanics, a closed-form wheel–soil interaction model was derived by quadratic approximation of stresses along the wheel– soil interface. The bulldozing resistance and the effects of grousers were also added for more accurate prediction of wheel contact forces. A non-iterative method was proposed to estimate the entry angle, by using approximated vertical pressure acting on the wheels. The computational efficiency was improved by avoiding traditional recursive search. Realtime computation of the wheel contact forces is achieved by the terramechanics-based formula (TBF), which was developed by integrating the wheel–soil interaction model and the entry angle estimator. In addition, an automotive inspired approach was used to integrate the TBF and the simplified vehicle dynamics model for fast simulation of mobile robots. Stability problems in numerical simulation could be avoided by this method. The above models were verified by comparing simulation results and experiment data, including single-wheel experiments and full-vehicle experiments. en_US
dc.description.sponsorship Cooperative Agreement W56HZV-04-2-0001 U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) Warren, MI en_US
dc.language.iso en_US en_US
dc.subject Tire-soil en_US
dc.subject Model en_US
dc.title Fast Analytical Models of Wheel-Soil Interactions en_US
dc.type Software en_US
dc.subject.hlbsecondlevel Mechanical Engineering
dc.subject.hlbtoplevel Engineering
dc.contributor.affiliationum Automotive Research Center en_US
dc.contributor.affiliationumcampus Ann Arbor en_US
dc.description.bitstreamurl http://deepblue.lib.umich.edu/bitstream/2027.42/93779/1/fast_analytical_models_of_wheel.zip
dc.owningcollname Automotive Research Center (ARC)
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