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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

    Li, Yuankai Ding, Liang and Liu, Guangjun 2016. Attitude-based dynamic and kinematic models for wheels of mobile robot on deformable slope. Robotics and Autonomous Systems, Vol. 75, p. 161.

    2014. Error-Tolerant Switched Robust Extended Kalman Filter With Application to Parameter Estimation of Wheel-Soil Interaction. IEEE Transactions on Control Systems Technology, Vol. 22, Issue. 4, p. 1448.


Terramechanics-based wheel–terrain interaction model and its applications to off-road wheeled mobile robots

  • Zhenzhong Jia (a1) (a2), William Smith (a1) (a2) and Huei Peng (a1) (a2)
  • DOI:
  • Published online: 25 July 2011

This paper presents a wheel–terrain interaction model, which enables efficient modeling of wheeled locomotion in soft soil and numerical simulations of off-road mobile robots. This modular model is derived based on wheel kinematics and terramechanics and the main focus is on describing the stress distributions along the wheel–terrain interface and the reaction forces exerted on the wheel by the soil. When the wheels are steered, the shear stresses underneath the wheel were modeled based on isotropic assumptions. The forces and torques contributed by the bulldozing effect of the side surfaces is also considered in the proposed model. Furthermore, the influence of grousers, commonly used on smaller mobile robots, was modeled by (1) averaging the normal pressures contributed by the grousers and the wheel concave portion, and (2) assuming that the shear phenomenon takes places along the grouser tips. By integrating the model with multibody system code for vehicle dynamics, simulation studies of various off-road conditions in three-dimensional environments can be conducted. The model was verified by using field experiment data, both for a single-wheel vehicle and a whole vehicle.

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15.C. Harnish , B. Lach , R. Jakobs , M. Troulis and O. Nehls , “A new tyre-soil interaction model for vehicle simulation on deformable ground,” Veh. Syst. Dyn. 43 (1), 384394 (2005).

19.J. M. Solis and R. G. Longoria ; “Modeling track-terrain interaction for transient robotic vehicle maneuvers,” J. Terramechanics 45 (3), 6578 (2008).

23.H. Shibly , K. Iagnemma and S. Dubowsky , “An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers,” J. Terramechanics 42 (1), 113 (2005).

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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