Statistics – Computation
Scientific paper
Nov 2007
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2007spie.6795e.231l&link_type=abstract
Second International Conference on Space Information Technology. Edited by Wang, Cheng; Zhong, Shan; Wei, Jiaolong. Proceeding
Statistics
Computation
Scientific paper
This paper presents a new method for terrain mechanical parameters estimation for a wheeled lunar rover. First, after deducing the detailed distribution expressions of normal stress and sheer stress at the wheel-terrain interface, the force/torque balance equations of the drive wheel for computing terrain mechanical parameters is derived through analyzing the rigid drive wheel of a lunar rover which moves with uniform speed in deformable terrain. Then a two-points Guass-Lengendre numerical integral method is used to simplify the balance equations, after simplifying and rearranging the resolve model are derived which are composed of three non-linear equations. Finally the iterative method of Newton and the steepest descent method are combined to solve the non-linear equations, and the outputs of on-board virtual sensors are used for computing terrain key mechanical parameters i.e. internal friction angle and press-sinkage parameters. Simulation results show correctness under high noises disturbance and effectiveness with low computational complexity, which allows a lunar rover for online terrain mechanical parameters estimation.
Cui Pingyuan
Ju Hehua
Liu Bing
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