A Real-Time Sinkage Detection Method for the Planetary Robotic Wheel-on-Limb System via a Monocular Camera
Baochang Liu,
Lihang Feng,
Dong Wang
Abstract:When traversing soft and rugged terrain, a planetary rover is susceptible to slipping and sinking, which impedes its movement. The real-time detection of wheel sinkage in the planetary wheel-on-limb system is crucial for enhancing motion safety and passability on such terrain. Initially, this study establishes a measurement of wheel sinkage under complex terrain conditions. Subsequently, a monocular vision-based wheel sinkage detection method is presented by combining the wheel–terrain boundary with the wheel … Show more
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