Prediction of Tractive Limitations of a Rigid Wheel on Loose Soil

Abstract

Predicting the tractive limitations of locomotion gears is of critical importance in a robotic vehicle system on natural terrain. In particular, it is imperative for an unmanned mobile robot to avoid getting stuck in loose soil to retain its mobility. From this perspective, this paper attempts to theoretically predict the limitations of a typical wheel in such loose soil based on traditional soil-wheel interaction models. In the case that the model brings a negative drawbar pull exerted by the wheel under any kinematic slip condition, we analytically investigated the limitations using a ratio of sinkage over the wheel radius. Predicted limitations are suggested for design optimization and control of the wheeled vehicle. Furthermore, this paper presents the relationship between the model analysis and a practical single wheel test, which provides significant guidelines for usage of the experimental results.

Interplay of theory and experiment in analysis of the advantage of the novel semi-elliptical leg moving on loose soil

“…Research on movement on loose soil continues to fascinate researchers, not only because its important role in performance of off-road vehicles [1], disaster relief [2], geographical disaster [3], and even lunar exploration [4,5], but also for its significant effect reduction on land vehicle's performance due to poor propulsion (causing slip) and support (causing sinkage) providing [6][7][8] (Fig. 1A).…”

A Measuring Instrument for Off-road Vehicle Performance Testing

“…It is also a validation of the models for predicting. Similarly, for instance, in the research of off-road vehicle trafficability, soil-bin tests are widely used as a kind of model tests [14][15][16]. However, they cannot reflect all the characteristics in wheel-soil interactions, especially the dynamic characteristics as in real vehicle situations.…”