Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers
Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain i...
| Glavni autori: | , , , , , , |
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| Format: | Članak |
| Jezik: | English |
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MDPI AG
2023-12-01
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| Serija: | Sensors |
| Teme: | |
| Online pristup: | https://www.mdpi.com/1424-8220/23/24/9752 |
| _version_ | 1827573600974012416 |
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| author | Fengtian Lv Nan Li Haibo Gao Liang Ding Zongquan Deng Haitao Yu Zhen Liu |
| author_facet | Fengtian Lv Nan Li Haibo Gao Liang Ding Zongquan Deng Haitao Yu Zhen Liu |
| author_sort | Fengtian Lv |
| collection | DOAJ |
| description | Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain interaction class (WTIC). Therefore, for terrain parameter identification of the terramechanics model when rovers traverse various terrains, terramechanics model switching corresponding to the WTIC needs to be solved. This paper proposes a speed-independent vibration-based method for WTIC recognition to switch the terramechanics model and then identify its terrain parameters. In order to switch terramechanics models, wheel–terrain interactions are divided into three classes. Three vibration models of wheels under three WTICs have been built and analyzed. Vibration features in the models are extracted and non-dimensionalized to be independent of wheel speed. A vibration-feature-based recognition method of the WTIC is proposed. Then, the terrain parameters of the terramechanics model corresponding to the recognized WTIC are identified. Experiment results obtained using a Planetary Rover Prototype show that the identification method of terrain parameters is effective for rovers traversing various terrains. The relative errors of estimated wheel–terrain interaction force with identified terrain parameters are less than 16%, 12%, and 9% for rovers traversing hard, gravel, and sandy terrain, respectively. |
| first_indexed | 2024-03-08T20:23:34Z |
| format | Article |
| id | doaj.art-ebcc8dc49df64cd5ba2bb7f89ccf4a64 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-08T20:23:34Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ebcc8dc49df64cd5ba2bb7f89ccf4a642023-12-22T14:40:32ZengMDPI AGSensors1424-82202023-12-012324975210.3390/s23249752Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary RoversFengtian Lv0Nan Li1Haibo Gao2Liang Ding3Zongquan Deng4Haitao Yu5Zhen Liu6State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaIdentifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain interaction class (WTIC). Therefore, for terrain parameter identification of the terramechanics model when rovers traverse various terrains, terramechanics model switching corresponding to the WTIC needs to be solved. This paper proposes a speed-independent vibration-based method for WTIC recognition to switch the terramechanics model and then identify its terrain parameters. In order to switch terramechanics models, wheel–terrain interactions are divided into three classes. Three vibration models of wheels under three WTICs have been built and analyzed. Vibration features in the models are extracted and non-dimensionalized to be independent of wheel speed. A vibration-feature-based recognition method of the WTIC is proposed. Then, the terrain parameters of the terramechanics model corresponding to the recognized WTIC are identified. Experiment results obtained using a Planetary Rover Prototype show that the identification method of terrain parameters is effective for rovers traversing various terrains. The relative errors of estimated wheel–terrain interaction force with identified terrain parameters are less than 16%, 12%, and 9% for rovers traversing hard, gravel, and sandy terrain, respectively.https://www.mdpi.com/1424-8220/23/24/9752terrain parameter identificationwheel–terrain interaction classesvibration featuresterrain classificationplanetary rover |
| spellingShingle | Fengtian Lv Nan Li Haibo Gao Liang Ding Zongquan Deng Haitao Yu Zhen Liu Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers Sensors terrain parameter identification wheel–terrain interaction classes vibration features terrain classification planetary rover |
| title | Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers |
| title_full | Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers |
| title_fullStr | Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers |
| title_full_unstemmed | Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers |
| title_short | Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers |
| title_sort | vibration based recognition of wheel terrain interaction for terramechanics model selection and terrain parameter identification for lugged wheel planetary rovers |
| topic | terrain parameter identification wheel–terrain interaction classes vibration features terrain classification planetary rover |
| url | https://www.mdpi.com/1424-8220/23/24/9752 |
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