A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model-Reference-Cited by-同舟云学术

A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model

Published:2020-06-22 Issue:2 Volume:39 Page:346-365
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Ebrahimi Saeed^ORCID,Mardani Arman,Alipour Khalil

Abstract

SUMMARYThe current contribution presents a new sinkage sensor specified for an unmanned ground vehicle to find the exact sinkage zone of a wheel interacting with the soil particles. This sensor will be wrapped around the wheel, and consequently, contact analog outputs will be used in soil deposition and bulldozing effect prediction. Furthermore, the new sensor will be used for a novel soil flow calculation estimating the total mass variation of the control volume of soil particles beneath the wheel. Accordingly, the spiral model simulating the displacement of the particle is implemented to calculate the soil deposition.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

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