Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

Trease, Brian P.; Arvidson, R. E.; Lindemann, R.; Bennett, K.; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Dyke, Lauren Van

doi:10.1115/detc2011-47896

Cited by 22 publications

(26 citation statements)

References 13 publications

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“…The authors are with the Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan, {inotsume, sutoh,nagaoka,keiji,yoshida}@astro.mech.tohoku.ac.jp to mobility problems in planetary rovers (e.g., [7]- [9]). Our research group has also been studying mobility of planetary rovers based on terramechanics [10]- [12].…”

Section: Introductionmentioning

confidence: 99%

Slope traversability analysis of reconfigurable planetary rovers

Inotsume

Sutoh

Nagaoka

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Future planetary rovers are expected to probe over steep sandy slopes, such as crater rims, where wheel slippage can be a critical issue. One solution to this issue is to mount redundant actuators on the locomotion mechanisms of the rovers such that they can actively reconfigurate themselves to adapt to the driven terrain. In this study, we propose a mechanical model of a rover based on a wheel-soil contact model combined with the classical terramechanic theory. The effects of the rover reconfiguration on its slippage tendencies are analyzed based on slope traversing experiments and numerical simulations. The validation of the proposed contact model is also discussed based on experimental and numerical simulation results. According to the experimental results, both longitudinal and lateral slippages are greatly reduced by tilting the rover in an uphill direction. The results of the numerical simulation match the experimental results quantitatively, and indicate the possible need to include a slope failure model.

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Section: Introductionmentioning

confidence: 99%

Slope traversability analysis of reconfigurable planetary rovers

Inotsume

Sutoh

Nagaoka

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…A typical approach in the literature, as in Refs. [10,11,14], is to simply represent these reaction forces as external applied forces to the wheel. Two limitations of the semi-empirical Bekker models in connection with multibody systems were discussed by Azimi [18].…”

Section: Motivation and Overallmentioning

confidence: 99%

“…Trease et al [14] used MSC-ADAMS for developing a multibody dynamics simulation platform. They employed terramechanics relations in the simulation of the Spirit and Opportunity rovers.…”

Section: Introductionmentioning

confidence: 99%

A Multibody Dynamics Framework for Simulation of Rovers on Soft Terrain

Azimi

Holz

Kövecses

et al. 2015

Journal of Computational and Nonlinear Dynamics

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A new framework is developed for efficient implementation of semi-empirical terramechanics models in multibody dynamics environments. In this approach, for every wheel in contact with soft soil, unilateral contact constraints are added for both the normal direction and the tangent plane. The forces associated with the latter, like traction and rolling resistance, are formulated in this approach as set-valued force laws, their properties being determined by deregularization of the terramechanics relations. As shown in the paper, this leads to the dynamics representation in the form of a linear complementarity problem (LCP). With this formulation, stable simulation of rovers is achieved even at relatively large time steps. In addition, a high-resolution height-field (HF) is employed to model terrain-surface deformation and changes in hardening of soil under the wheel. As a result, the multipass effect is captured in the presented approach. In addition, an extensive set of experiments was conducted using a version of the Juno rover (Juno II). The experimental results are analyzed and compared with the model developed in the paper.

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“…However, as stated in [18], K r and K w used in eqs. (8) and (9) are non-invariant soil plate parameters and can be determined only experimentally.…”

Section: Bekakos Et Al / Sae Int J Commer Veh / Volume 9 Issue 2mentioning

confidence: 99%

“…In [13], a new approach (which was initially proposed in [17]), to consider the negative (void) and positive (tread) portions of the tire is presented where the soil is assumed to be interlocked between the tread blocks and acting only in a shear mode. Based on the soil cutting theory of soil mechanics, the forces normal to the sides of the treads were estimated and their contribution on the overall tractive performance was considered in [18].…”

Section: Bekakos Et Al / Sae Int J Commer Veh / Volume 9 Issue 2mentioning

confidence: 99%

Off-Road Tire-Terrain Interaction: An Analytical Solution

Bekakos¹,

Papazafeiropoulos²,

O'Boy³

et al. 2016

SAE Int. J. Commer. Veh.

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Citation: BEKAKOS, C.-A., 2016. Off-road tire-terrain interaction: an analytical solution. SAE International Journal of Commercial Vehicles, 9 (2), pp. 244-251.Additional Information:• This paper was accepted for publication in the journal SAE In- INTRODUCTIONTire-road interaction is a highly complex dynamic phenomenon, which has been subject to extensive research and development within the automotive industry. The tire is the dominant link between a vehicle body and road surface dynamic interaction in terms of accelerating, braking and steering forces. On-road tires have attracted significant attention with regards to reducing rolling resistance and fuel consumption following several European and/or world guidelines. However, off-road tires-soil interaction occupies an equally important position within the tire industry not only for military purposes but also for the growth of agricultural-based countries' economies.The ability of tracked and wheeled vehicles to transverse certain types of soft soils is a complex, multivariable phenomenon and because of this, several assumptions have to be made in order to create accurate and yet computationally efficient off-road tire models. Finite element models can produce highly accurate time-domain solutions, taking into account the exact properties of the tire and soil surface, however, they are typically unsuitable as inputs for interactive, dynamic vehicle simulations as they operate far from real time. Semi-analytical and/or numerical simplified models have been created in the past where the soil is being regarded as an elasticperfectly plastic material [1] and the tire is being considered as a rigid wheel model, representative of a highly inflated tire rolling on a very soft soil [2]. To the best of the authors' knowledge, regardless of the assumptions involved, in most of the models published in the literature the off-road tire-soil interaction is studied in terms of two main effects. The first tries to capture the relationship between the normal load and vertical displacement (sinkage) of the wheel into the soil; the second has to do with the shear stress-shear displacement developed on the tire-soil interface.In a pioneering paper representative of the former effect [3], based on the observation that the main resistance in a tire's movement is due to the effort to create a rut in order to transverse, Bernstein proposed eq.(1), which was later extended in a more generalized version, i.e. eq. ABSTRACTA novel semi-analytical solution has been developed for the calculation of the static and dynamic response of an off road tire interacting with a deformable terrain, which utilizes soil parameters independent of the size of the contact patch (size-independent). The models involved in the solution presented, can be categorized in rigid and/or pneumatic tires, with or without tread pattern. After a concise literature review of related methods, a detailed presentation of the semi-analytical solution is presented, along with assumptions and limitations. A flowchart is pro...

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Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

Cited by 22 publications

References 13 publications

Slope traversability analysis of reconfigurable planetary rovers

Slope traversability analysis of reconfigurable planetary rovers

A Multibody Dynamics Framework for Simulation of Rovers on Soft Terrain

Off-Road Tire-Terrain Interaction: An Analytical Solution

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