Terrain mechanical parameters online estimation for lunar rovers

Bing Liu; Pingyuan Cui; Hehua Ju

doi:10.1117/12.775264

10 November 2007 Terrain mechanical parameters online estimation for lunar rovers

Bing Liu, Pingyuan Cui, Hehua Ju

Proceedings Volume 6795, Second International Conference on Space Information Technology; 67956F (2007) https://doi.org/10.1117/12.775264
Event: Second International Conference on Spatial Information Technology, 2007, Wuhan, China

Abstract

This paper presents a new method for terrain mechanical parameters estimation for a wheeled lunar rover. First, after deducing the detailed distribution expressions of normal stress and sheer stress at the wheel-terrain interface, the force/torque balance equations of the drive wheel for computing terrain mechanical parameters is derived through analyzing the rigid drive wheel of a lunar rover which moves with uniform speed in deformable terrain. Then a two-points Guass-Lengendre numerical integral method is used to simplify the balance equations, after simplifying and rearranging the resolve model are derived which are composed of three non-linear equations. Finally the iterative method of Newton and the steepest descent method are combined to solve the non-linear equations, and the outputs of on-board virtual sensors are used for computing terrain key mechanical parameters i.e. internal friction angle and press-sinkage parameters. Simulation results show correctness under high noises disturbance and effectiveness with low computational complexity, which allows a lunar rover for online terrain mechanical parameters estimation.

Citation Download Citation

Bing Liu, Pingyuan Cui, and Hehua Ju "Terrain mechanical parameters online estimation for lunar rovers", Proc. SPIE 6795, Second International Conference on Space Information Technology, 67956F (10 November 2007); https://doi.org/10.1117/12.775264

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