Detecting soil parameters from a small tracked vehicle

Tracked robots have been studied for years, to high-level applications, such as autonomous navigation in areas of difficult access and maneuvering strategies that allow better performance compared to other types of vehicles. The full operation of a robotic system depends on ensuring the functioning...

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Bibliographic Details
Published in2015 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings pp. 1446 - 1451
Main Authors dos Santos, Alexsandro Jose Virginio, Cavalcante Silva, Andre Fellipe, da Rocha Souto, Cicero, da Silva, Simplicio Arnaud, Marques de Lima, Ana Maria
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2015
Subjects
dynamic systems
Friction
Kinematics
Mathematical model
Robots
soil interaction
tracked robots
Tracking
Vehicle dynamics
Vehicles
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Summary:Tracked robots have been studied for years, to high-level applications, such as autonomous navigation in areas of difficult access and maneuvering strategies that allow better performance compared to other types of vehicles. The full operation of a robotic system depends on ensuring the functioning of all its parts, which can be divided hierarchically or functionality. There is a consensus that the kinematic model can be simplified for most analyzes. Likewise, the dynamic model is greatly simplified because of its complexity and uncertainty, but not allowing use of models that approximate the actual behavior. The dynamic approach proposed in this work includes a lateral drag force, causing the tracks moves in curvilinear, considering their non-linearity and strong coupling between the tracks. The traction performed by the vehicle is from electric DC motors. Also it is presented the implementation of a procedure for detecting parameters of the interaction between the tracks and the soil, by estimating the coefficients of kinetic and dynamic friction, from the measurement of current supplied to the engines while performing a maneuver.
ISSN:1091-5281
DOI:10.1109/I2MTC.2015.7151489