Qishun Yu, Catherine Pavlov, Wooshik Kim, Aaron M. Johnson
{"title":"Modeling wheeled locomotion in granular media using 3D-RFT and sand deformation","authors":"Qishun Yu, Catherine Pavlov, Wooshik Kim, Aaron M. Johnson","doi":"10.1016/j.jterra.2024.100987","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4000,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Terramechanics","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022489824000296","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ENVIRONMENTAL","Score":null,"Total":0}
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.
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.