Online estimation of terrain parameters and resistance force based on equivalent sinkage for planetary rovers in longitudinal skid

2019 ◽  
Vol 119 ◽  
pp. 39-54 ◽  
Author(s):  
Zhen Liu ◽  
Junlong Guo ◽  
Liang Ding ◽  
Haibo Gao ◽  
Tianyou Guo ◽  
...  
Automatica ◽  
2021 ◽  
Vol 125 ◽  
pp. 109425
Author(s):  
Elvis Jara Alegria ◽  
Mateus Giesbrecht ◽  
Celso Pascoli Bottura

Author(s):  
Yuheng Wu ◽  
Mohammad Hazzaz Mahmud ◽  
Radha Sree Krishna Moorthy ◽  
Madhu Chinthavali ◽  
Yue Zhao

2021 ◽  
Vol 9 (5) ◽  
pp. 481
Author(s):  
Azim Hosseini ◽  
Sasan Tavakoli ◽  
Abbas Dashtimanesh ◽  
Prasanta K. Sahoo ◽  
Mihkel Kõrgesaar

This paper presents CFD (Computational Fluid Dynamics) simulations of the performance of a planing hull in a calm-water condition, aiming to evaluate similarities and differences between results of different CFD models. The key differences between these models are the ways they use to compute the turbulent flow and simulate the motion of the vessel. The planing motion of a vessel on water leads to a strong turbulent fluid flow motion, and the movement of the vessel from its initial position can be relatively significant, which makes the simulation of the problem challenging. Two different frameworks including k-ε and DES (Detached Eddy Simulation) methods are employed to model the turbulence behavior of the fluid motion of the air–water flow around the boat. Vertical motions of the rigid solid body in the fluid domain, which eventually converge to steady linear and angular displacements, are numerically modeled by using two approaches, including morphing and overset techniques. All simulations are performed with a similar mesh structure which allows us to evaluate the differences between results of the applied mesh motions in terms of computation of turbulent air–water flow around the vessel. Through quantitative comparisons, the morphing technique has been seen to result in smaller errors in the prediction of the running trim angle at high speeds. Numerical observations suggest that a DES model can modify the accuracy of the morphing mesh simulations in the prediction of the trim angle, especially at high-speeds. The DES model has been seen to increase the accuracy of the model in the computation of the resistance of the vessel in a high-speed operation, as well. This better level of accuracy in the prediction of resistance is a result of the calculation of the turbulent eddies emerging in the water flow in the downstream zone, which are not captured when a k-ε framework is employed. The morphing approach itself can also increase the accuracy of the resistance prediction. The overset method, however, overpredicts the resistance force. This overprediction is caused by the larger vorticity, computed in the direction of the waves, generated under the bow of the vessel. Furthermore, the overset technique is observed to result in larger hydrodynamic pressure on the stagnation line, which is linked to the greater trim angle, predicted by this approach. The DES model is seen to result in extra-damping of the second and third crests of transom waves as it calculates the stronger eddies in the wake of the boat. Overall, a combination of the morphing and DES models is recommended to be used for CFD modeling of a planing hull at high-speeds. This combined CFD model might be relatively slower in terms of computational time, but it provides a greater level of accuracy in the performance prediction, and can predict the energy damping, developed in the surrounding water. Finally, the results of the present paper demonstrate that a better level of accuracy in the performance prediction of the vessel might also be achieved when an overset mesh motion is used. This can be attained in future by modifying the mesh structure in such a way that vorticity is not overpredicted and the generated eddies, emerging when a DES model is employed, are captured properly.


2020 ◽  
Vol 7 (1) ◽  
Author(s):  
Daisuke Fujiwara ◽  
Naoki Tsujikawa ◽  
Tetsuya Oshima ◽  
Kojiro Iizuka

Abstract Planetary exploration rovers have required a high traveling performance to overcome obstacles such as loose soil and rocks. Push-pull locomotion rovers is a unique scheme, like an inchworm, and it has high traveling performance on loose soil. Push-pull locomotion uses the resistance force by keeping a locked-wheel related to the ground, whereas the conventional rotational traveling uses the shear force from loose soil. The locked-wheel is a key factor for traveling in the push-pull scheme. Understanding the sinking behavior and its resistance force is useful information for estimating the rover’s performance. Previous studies have reported the soil motion under the locked-wheel, the traction, and the traveling behavior of the rover. These studies were, however, limited to the investigation of the resistance force and amount of sinkage for the particular condition depending on the rover. Additionally, the locked-wheel sinks into the soil until it obtains the required force for supporting the other wheels’ motion. How the amount of sinkage and resistance forces are generated at different wheel sizes and mass of an individual wheel has remained unclear, and its estimation method hasn’t existed. This study, therefore, addresses the relationship between the sinkage and its resistance force, and we analyze and consider this relationship via the towing experiment and theoretical consideration. The results revealed that the sinkage reached a steady-state value and depended on the contact area and mass of each wheel, and the maximum resistance force also depends on this sinkage. Additionally, the estimation model did not capture the same trend as the experimental results when the wheel width changed, whereas, the model captured a relatively the same trend as the experimental result when the wheel mass and diameter changed.


2021 ◽  
Vol 11 (12) ◽  
pp. 5490
Author(s):  
Anna Maria Gargiulo ◽  
Ivan di Stefano ◽  
Antonio Genova

The exploration of planetary surfaces with unmanned wheeled vehicles will require sophisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.


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