Modeling wheeled locomotion in granular media using 3D-RFT and sand deformation

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
Qishun Yu, Catherine Pavlov, Wooshik Kim, Aaron M. Johnson
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引用次数: 0

Abstract

Modeling the wheel-soil interaction of small-wheeled robots in granular media is important for robot design and control. A wide range of applications, from earthmoving for construction and farming vehicles to navigating rough terrain for Mars rovers, motivate the need for a model that can predict the force response of a wheel and the terrain shape afterward. More importantly, the speed, accuracy, and generality of the model should be considered for real-world applications. In this paper, we offer a straightforward sand deformation simulator to simulate the soil surface and integrate it with 3D-RFT in order to capture the soil motion caused by the wheel. The proposed method is able to: (1) estimate three-dimensional interaction forces of arbitrarily shaped wheels traveling in granular media; (2) simulate the soil displacement from the trajectory; and (3) perform the force calculation in real-time at 60 Hz.

利用 3D-RFT 和沙粒变形模拟颗粒介质中的轮式运动
建立小轮机器人在颗粒介质中车轮与土壤相互作用的模型对于机器人的设计和控制非常重要。从建筑和农用车辆的土方工程到火星探测器的崎岖地形导航,广泛的应用促使人们需要一个能够预测车轮受力反应和之后地形形状的模型。更重要的是,模型的速度、准确性和通用性应考虑到实际应用。在本文中,我们提供了一个直接的沙土变形模拟器来模拟土壤表面,并将其与 3D-RFT 相结合,以捕捉车轮引起的土壤运动。所提出的方法能够(1) 估算在颗粒介质中行驶的任意形状车轮的三维相互作用力;(2) 根据轨迹模拟土壤位移;(3) 以 60 Hz 实时执行力计算。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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