期刊
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
卷 71, 期 -, 页码 -出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIM.2022.3198469
关键词
Wheels; Instruments; Sensors; Extraterrestrial measurements; Robot sensing systems; Space vehicles; Mobile robots; Force sensors; instrumented wheel (IW); planetary rover; terrain traversability; wheel-terrain interaction (WTI)
资金
- National Key Research and Development Program of China [2018AAA0102705]
- National Natural Science Foundation of China [62103184, U20B2054]
- China Postdoctoral Science Foundation [2021M690630]
This article presents the design and implementation of an instrumented wheel for characterizing the wheel-terrain interaction to improve the traversability of planetary rovers. Experimental calibration and field tests have verified the potential applicability of such a system in future planetary traverses.
Understanding the wheel-terrain interaction (WTI) is of great importance to improve the traversability of the planetary rovers. In this article, the design and implementation of an instrumented wheel (IW) for characterizing the WTIs are presented. Such an IW is the key technique of the wheel-on-limb detection (WOLD) system that aims for the forward terrain sensing and traversability prediction before the traversal of the rover. In situ measurements of the WTI forces, wheel velocity, and wheel contact angle, as well as the wheel sinkage, can be achieved via such an IW. Experimental calibration is first implemented to guarantee the IW performance. Then, field tests in the representative environments are conducted to verify the measured parameters of WTIs. It has indicated that such a system concept would be potentially applicable in the future long-safe planetary traverses concerning the rover payloads development and functional validation.
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