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http://dx.doi.org/10.7746/jkros.2013.8.2.116

Prediction of Maneuverability and Efficiency for a Mobile Robot on Rough Terrain through the development of a Testbed for Analysis of Robot-terrain interaction  

Kim, Jayoung (Mechatronics Engineering, Chungnam National University)
Lee, Jihong (Mechatronics Engineering, Chungnam National University)
Publication Information
The Journal of Korea Robotics Society / v.8, no.2, 2013 , pp. 116-128 More about this Journal
Abstract
This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.
Keywords
Terramechanics; UGV; Traversability; Rough terrain; Testbed development; Tractive force; Maximum velocity; Maximum acceleration; Tractive efficiency;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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