A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

Li, Yuankai; Ding, Liang; Zheng, Zhizhong; Yang, Qizhi; Zhao, Xingang; Liu, Guangjun

doi:10.1016/j.ymssp.2017.11.038

Cited by 23 publications

(12 citation statements)

References 31 publications

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“…The method, however, for a single wheel results in an error of 1-11%. Real-time estimation of terrain parameters was also addressed in (Li et al, 2018) using semi-empirical terramechanic equations and EKF for WMRs driving on deformable slopes. However, this method is not useful for untraversed areas as it requires a history of measurement data.…”

Section: Terramechanics and Dynamicsmentioning

confidence: 99%

Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Zarei

Chhabra²

2022

Front. Space Technol.

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Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed planetary WMRs and surveys methods for improving their mobility and traversability. The methods are categorized based on the employed approaches ranging from signal-based and model-based estimation to terramechanics-based, machine learning, and global sensing techniques. They aim to detect vehicle motion parameters (kinematic states and forces/torques), terrain hazards (slip and sinkage) and terrain parameters (soil cohesion and friction). The limitations of these methods and recommendations for future missions are stated.

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Section: Terramechanics and Dynamicsmentioning

confidence: 99%

Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Zarei

Chhabra²

2022

Front. Space Technol.

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“…The parameters such as roughness and step height are characterized using Inertial Measurement Units (IMU). Yuankai Li [56] proposed an online terrain parameter estimation model for wheeled robots with multimodal methods for different terrains. The sinkage coefficient and internal friction angle, derived from the slip ratio and normal stress equation, are used here.…”

Section: Recent Developments In Terrain Parameter Estimation Of Wheeled Robotsmentioning

confidence: 99%

Recent developments in terrain identification, classification, parameter estimation for the navigation of autonomous robots

Nampoothiri

Sunny

et al. 2021

SN Appl. Sci.

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The work presents a review on ongoing researches in terrain-related challenges influencing the navigation of Autonomous Robots, specifically Unmanned Ground ones. The paper aims to highlight the recent developments in robot design and advanced computing techniques in terrain identification, classification, parameter estimation, and developing modern control strategies. The objective of our research is to familiarize the gaps and opportunities of the aforementioned areas to the researchers who are passionate to take up research in the field of autonomous robots. The paper brings recent works related to terrain strategies under a single platform focusing on the advancements in planetary rovers, rescue robots, military robots, agricultural robots, etc. Finally, this paper provides a comprehensive analysis of the related works which can bridge the AI techniques and advanced control strategies to improve navigation. The study focuses on various Deep Learning techniques and Fuzzy Logic Systems in detail. The work can be extended to develop new control schemes to improve multiple terrain navigation performance.

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“…This leads the applications of such friction models hardly to avoid using constant normal forces, which happened even in some nonlinear mechanical systems (see, e.g., [14], [15]). What is more, the absence of the closed-form friction models in control design area costs much effort on the research of either model-based or non-model-based friction compensation [16]- [21], sensor-based or nonsensor-based normal forces evaluation/prediction [22]- [24] and some ingenious solutions through numerical approaches [25]- [27]. We stress that the processes of the above researches are rather successful.…”

Section: Introductionmentioning

confidence: 98%

Closed-Form Representations of Friction

Huang

et al. 2021

IEEE Access

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The current developed friction models are basically based on the assumption of the normal forces exerted between the contact surfaces known in advance, less work has been done for closed-form (i.e., analytic) modeling in complex mechanical systems where the normal forces vary greatly over time. In this paper, the closed-form representations of friction forces in mechanical systems are newly derived in a way of dynamics. The Udwadia-Kalaba equation is first used to calculate the normal force exerted by the contact surface in mechanical system. The friction force is then calculated via existing friction models. Such closed-form expressions of friction forces contain both the magnitude and direction at any instant of time, even as the normal force is nonconstant. The novel representations offer an effective way for analytically expressing friction force in dynamical systems, which makes it possible for accurate simulation and control design of dynamical systems with non-negligible friction forces. INDEX TERMS Friction force, closed-form modeling, mechanical systems, robotics.

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A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

Cited by 23 publications

References 31 publications

Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Advancements in autonomous mobility of planetary wheeled mobile robots: A review

Recent developments in terrain identification, classification, parameter estimation for the navigation of autonomous robots

Closed-Form Representations of Friction

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