Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Ding, Liang; Nagatani, Keiji; Sato, Keisuke; Mora, Andres; Yoshida, Kazuya; Gao, Haibo; Deng, Zongquan

doi:10.1109/robot.2010.5509217

Cited by 21 publications

(6 citation statements)

References 10 publications

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“…With these determined points on the wheel-terrain interaction plane, the wheel sinkage z, and the rotation matrix of {Σe} relative to the initial frame {ΣI} at this time step used for the next iteration can be calculated according ref. 43.…”

Section: ) Wheel-terrain Interaction States Solutionmentioning

confidence: 99%

Technology enabled science: investigation of a fin-shaped rock by the Yutu-2 rover on the lunar farside

Ding

Zhou

et al. 2023

Preprint

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Technology advancement in modern planetary exploration has extended extraterrestrial geological science by sending rovers on challenging, possibly risky but highly scientific-valuable ventures, such as ascending towards the crater walls, traversing steep slopes of sand dunes and travelling through the lava tube. On the 41st lunar day, the first lunar farside prospector, the Yutu-2 rover, carried out an exciting expedition towards a scientifically interesting fin-shaped rock for spectral investigation, taking a high risk of wheel skidding and lateral slippage along a narrow and uneven passage. The rover successfully achieved new findings by extending its locomotion margin on perilous peaks, while its safety was maintained on the basis of ingenious exploration strategies and digital twin-based performance analysis. Surface morphology analysis of the fin-shaped rock indicates that it has suffered certain degrees of impacts. The further in situ spectral investigations suggest that the target rock is composed of Fe/Mg-rich low-Ca pyroxene, thus inferred to belongs to the Zhinyu crater ejecta, rather than those of the Finsen crater. Engineering locomotive data of the rover was used for comprehensive lunar regolith property identification, presenting the first shear parameter range of the farside regolith and an initial estimation on its lateral property in the extraterrestrial environment. The estimated internal friction angle is within 21.5°-42.0° and the associated cohesion is 520-3154 Pa, which suggests that the lunar regolith at Chang’E-4 site had similar shear characteristics to samples measured by direct shear approach on the Apollo 12 mission, but relatively larger cohesion than the counterpart investigated on most of nearside lunar missions. This study demonstrates a paradigm of the in-depth integration of science and technology in space exploration, where planetary science is enabled by engineering support, and new demands of scientific exploration in turn generate motivation for the improvement of technology.

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Section: ) Wheel-terrain Interaction States Solutionmentioning

confidence: 99%

Technology enabled science: investigation of a fin-shaped rock by the Yutu-2 rover on the lunar farside

Ding

Zhou

et al. 2023

Preprint

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“…Solutions for MATLAB are for example related in Tarokh (2016) and Ding et al (2010). Neumayr and Otter (2017) and Neumayr and Otter (2019) add collision detection and Hertz contact dynamics to Modia3D.…”

Section: Contact Dynamics Simulationmentioning

confidence: 99%

A Modelica Library to Add Contact Dynamics and Terramechanics to Multi-Body Mechanics

Buse,

Pignède,

Barthelmes

2023

Linköping Electronic Conference Proceedings

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The Contact Dynamics library extends the multi-body Modelica Standard Library with contact calculation to the environment, namely soft soil and hard obstacles. A focus is on terramechanics, i. e. wheels driving on soft and dry soil, and a handful of models are implemented. Additionally, a Hertz contact model for hard and elastic contact, between bodies themselves or to obstacles in the environment (e. g. rocks in the soft soil), is available as well. The capabilities of the library have been key in the development of rovers for planetary exploration such as the upcoming MMX mission to the Martian moon Phobos.

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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%

“…In this work, soil reactions are added as external forces to the wheels, and the rover is assumed to move on a flat surface. This was extended by Ding et al [11] for operation on rough terrain, in which the interaction area between the wheel and the rough terrain is simplified as a plane. The terramechanics model was also extended by including the slip-sinkage model of Ding et al [12].…”

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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Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Cited by 21 publications

References 10 publications

Technology enabled science: investigation of a fin-shaped rock by the Yutu-2 rover on the lunar farside

Technology enabled science: investigation of a fin-shaped rock by the Yutu-2 rover on the lunar farside

A Modelica Library to Add Contact Dynamics and Terramechanics to Multi-Body Mechanics

A Multibody Dynamics Framework for Simulation of Rovers on Soft Terrain

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