Mobility of a lightweight tracked robot over deep snow

Lever, J. H.; Denton, Daniel; Phetteplace, Gary; Wood, Sumintra D.; Shoop, Sally A.

doi:10.1016/j.jterra.2005.09.002

Cited by 31 publications

(28 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Table 2 provides typical values for seasonal snow that derive from numerous tests in deep snow [5]. We found that the pressure-sinkage relationship is approximately linear for indentation pressures less than about 5 kPa: Fig.…”

Section: Design Guidancementioning

confidence: 89%

“…Wong [7] provides a comprehensive update of this theory. We then tested SnoBot during two winter seasons to compare the predicted and measured mobility performance over a variety of snow conditions [5]. During this time, we obtained use of PackBot and Talon to conduct winter mobility tests and gain qualitative sense of their over-snow performance.…”

Section: Design Guidancementioning

confidence: 99%

“…This paper presents guidance to design lightweight robots for good mobility over snow based on mobility theory and extensive tests conducted on SnoBot, a 24-kg robot built to conduct over-snow mobility research [5]. Where 0022-4898/$36.00 Published by Elsevier Ltd on behalf of ISTVS.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of lightweight robots for over-snow mobility

Lever

Shoop

Bernhard

2009

Journal of Terramechanics

View full text Add to dashboard Cite

Section: Design Guidancementioning

confidence: 89%

Section: Design Guidancementioning

confidence: 99%

See 1 more Smart Citation

Design of lightweight robots for over-snow mobility

Lever

Shoop

Bernhard

2009

Journal of Terramechanics

View full text Add to dashboard Cite

“…By designing a vehicle with low track pressure (<1.5 kPa), more support from the underlying snow cover can be obtained 3 . However, with such a design skid-steering becomes very difficult as the outward track tends to loose traction if the vehicle makes a turn.…”

Section: Introductionmentioning

confidence: 99%

An Unmanned Tracked Vehicle for Snow Research Applications

2016

View full text Add to dashboard Cite

Lightweight robotic vehicles can be designed for over-snow mobility to carry out a variety of snow and glacier related studies like carrying out ground penetrating radar and global positioning system surveys, collecting snow samples, and carrying out sub-surface experiments on terrain that are dangerous for human movement. Sinkage, resistance to snow compaction, loss of traction and ingestion of snow into the driving system are some of the challenges that an unmanned lightweight tracked vehicle faces in snowbound terrain. In present work, a lightweight and unmanned remotely operated vehicle (ROV) is conceptualized and developed as a technological solution. In this study, design and features of this vehicle, named HimBot, are presented along with the results obtained from tests carried over snow at one of the field research stations of SASE. The outcome of this work will help in developing an optimised design of an ROV for over-snow mobility for a variety of applications.

show abstract

“…The mobility of several small tracked vehicles moving in natural and deep-snow environments is discussed in [8,9]. The terramechanics theory for motion on snow presented in [10] can be applied to improve the performance of robots moving on snow.…”

Section: Introductionmentioning

confidence: 99%

Image-Based Navigation for the SnowEater Robot Using a Low-Resolution USB Camera

et al. 2015

View full text Add to dashboard Cite

This paper reports on a navigation method for the snow-removal robot called SnowEater. The robot is designed to work autonomously within small areas (around 30 m 2 or less) following line segment paths. The line segment paths are laid out so as much snow as possible can be cleared from an area. Navigation is accomplished by using an onboard low-resolution USB camera and a small marker located in the area to be cleared. Lowresolution cameras allow only limited localization and present significant errors. However, these errors can be overcome by using an efficient navigation algorithm to exploit the merits of these cameras. For stable robust autonomous snow removal using this limited information, the most reliable data are selected and the travel paths are controlled. The navigation paths are a set of radially arranged line segments emanating from a marker placed in the environment area to be cleared, in a place where it is not covered by snow. With this method, by using a low-resolution camera (640 × 480 pixels) and a small marker (100 × 100 mm), the robot covered the testing area following line segments. For a reference angle of 4.5° between line paths, the average results are: 4° for motion on hard floor and 4.8° for motion on compacted snow. The main contribution of this study is the design of a path-following control algorithm capable of absorbing the errors generated by a low-cost camera. OPEN ACCESSRobotics 2015, 4 121

show abstract

Mobility of a lightweight tracked robot over deep snow

Cited by 31 publications

References 1 publication

Design of lightweight robots for over-snow mobility

Design of lightweight robots for over-snow mobility

An Unmanned Tracked Vehicle for Snow Research Applications

Image-Based Navigation for the SnowEater Robot Using a Low-Resolution USB Camera

Contact Info

Product

Resources

About