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- W4206340595 abstract "Planetary rovers, integrated with the state-of-the-art technologies in different fields, are required to explore extraterrestrial surfaces to achieve their scientific goals. The perception of the extraterrestrial environment, especially the terrain, greatly affects the mobility of rovers. The estimation of terrain parameters often requires wheel-terrain interaction data under various slip ratios. The data of multi-slip conditions can be obtained by adjusting the slope angles of the terrain or rover load in experiments. However, these methods are neither safe nor practical for planetary rovers that are exploring extraterrestrial planets. In this study, the required wheel slip conditions can be obtained based on the Monte Carlo method and terramechanics theory, by actively adjusting rotation speeds of the rover’s wheels. Simulations in the Vortex physics engine environment verified that the proposed method could generate the multi-slip conditions in a flat terrain without requiring the rover to go up/down high slopes. Furthermore, by measuring the wheel-terrain interaction data, normal force, drawbar pull, driving torque, sinkage under various slip ratios the terrain parameters can be estimated." @default.
- W4206340595 created "2022-01-25" @default.
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- W4206340595 date "2021-11-26" @default.
- W4206340595 modified "2023-10-16" @default.
- W4206340595 title "Multi-Slip Conditions Acquisition of Planetary Rovers with Application to Terrain Parameter Identification*" @default.
- W4206340595 doi "https://doi.org/10.1109/m2vip49856.2021.9665041" @default.
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