10 November 2007 Terrain mechanical parameters online estimation for lunar rovers
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Proceedings Volume 6795, Second International Conference on Space Information Technology; 67956F (2007) https://doi.org/10.1117/12.775264
Event: Second International Conference on Spatial Information Technology, 2007, Wuhan, China
Abstract
This paper presents a new method for terrain mechanical parameters estimation for a wheeled lunar rover. First, after deducing the detailed distribution expressions of normal stress and sheer stress at the wheel-terrain interface, the force/torque balance equations of the drive wheel for computing terrain mechanical parameters is derived through analyzing the rigid drive wheel of a lunar rover which moves with uniform speed in deformable terrain. Then a two-points Guass-Lengendre numerical integral method is used to simplify the balance equations, after simplifying and rearranging the resolve model are derived which are composed of three non-linear equations. Finally the iterative method of Newton and the steepest descent method are combined to solve the non-linear equations, and the outputs of on-board virtual sensors are used for computing terrain key mechanical parameters i.e. internal friction angle and press-sinkage parameters. Simulation results show correctness under high noises disturbance and effectiveness with low computational complexity, which allows a lunar rover for online terrain mechanical parameters estimation.
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Bing Liu, Bing Liu, Pingyuan Cui, Pingyuan Cui, Hehua Ju, Hehua Ju, } "Terrain mechanical parameters online estimation for lunar rovers", Proc. SPIE 6795, Second International Conference on Space Information Technology, 67956F (10 November 2007); doi: 10.1117/12.775264; https://doi.org/10.1117/12.775264
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