Mobile robots are increasingly being used in high-risk, rough terrain situations, such as planetary exploration and military applications. Current control and localization algorithms are not well suited to rough terrain, since they generally do not consider the physical characteristics of the vehicle and of its environment. Poor attention has been devoted to the study of the dynamic ill-effects...

This paper describes recent work toward developing a terramechanics-based modeling and validation infrastructure for characterizing the Curiosity rovers mobility properties on the Mars surface. The resulting simulation tool, ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), is composed of a MSC-Adams dynamic rover model, a library of terramechanics subroutines, and ...

Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an underactuated nonlinear dynamic system. To study the maneuverability of a WMR in such a realistic environment, we model the overall WMR dynamics subject to wheel slip and pr...

In this paper, a novel adaptive tracking controller is proposed for mobile robots in presence of wheel slip and external disturbance force based on neural networks with online weight updating laws. The uncertainties due to the wheel slip and external force are compensated online by neural networks in order to achieve the desired tracking performance. The online weight updating laws are modified...

This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road whee...

This paper presents a systematic approach to designing dynamic metaheuristic fuzzy logic controller (FLC) control piece of non-linear plant. The developed is multiple-input–multiple-output (MIMO) system. However, with the proposed mechanism possible adapt it single-input–single-output (SISO) systems as well. During real-time operation, behavior influenced by particle swarm optimization (PSO) me...

This paper has presented hard braking control system based on Adjustable Gain Enhanced Fuzzy Logic Controller (AGE-FLC) for optimal wheel slip ratio tracking performance. The purpose of the study was to improve and eliminate cycling while achieving very much shortened distance during emergency braking. model a vehicle at speed 30 m.s^-1 subject locking developed implemented in MATLAB/Simulink e...

Heavy aircraft main landing gear tyres skid immediately after touchdown as result of the high slip ratio between the tyres and runway, which lead to tyre wear and smoke. In this paper, the tyre wear is modelled on the Archard theory using ANSYS mechanical transient, to reveal the wheel’s dynamic and the tyre tread wear. The wheel’s dynamic and the amount of wear are calculated for initially sta...

Heavy aircraft main landing gear tyres skid immediately after touchdown as result of the high slip ratio between the tyres and runway, which lead to tyre wear and smoke. In this paper, the tyre wear is modelled on the Archard theory using ANSYS mechanical transient, to reveal the wheel’s dynamic and the tyre tread wear. The wheel’s dynamic and the amount of wear are calculated for initially sta...