We present results from both simulation and experiment on a 2D gran-ular shear-cell. The experiments determine the position of disks and their orientations over time, as well as the force on individual disks. We use computerized particle tracking techniques to achieve the former and pho-toelasticity to achieve the latter. The simulations use MD force laws and eecient algorithms to simulate as c...

Accounting for wheel–terrain interaction is crucial navigation and traction control of mobile robots in outdoor environments rough terrains. Wheel slip one the surface hazards that needs to be detected mitigate against risk losing robot's controllability or mission failure occurring. The open problems Terramechanics field addressed are (1) need situ wheel-slippage estimation harsh using low-cos...

This paper presents an analysis of odometry errors in over-constrained mobile robots, that is, vehicles that have more independent motors than degrees of freedom. Based on our analysis we developed and examined three novel error-reducing methods. One method, called “Fewest Pulses” method, makes use of the observation that most terrain irregularities, as well as wheel slip, result in an erroneou...

Accurate knowledge on the absolute or true speed of a vehicle, if and when available, can be used to enhance advanced vehicle dynamics control systems such as anti-lock brake systems (ABS) and auto-traction systems (ATS) control schemes. Current conventional method uses wheel speed measurements to estimate the speed of the vehicle. As a result, indication of the vehicle speed becomes erroneous ...

Because of the nonlinear feature tire force, anti-lock braking system (ABS) research based on wheel slip control (WSC) is widely used even without measured and road friction. Combined with WSC technology, four-wheel ABS fuzzy sliding mode (FSM) method introduced in this paper. Unlike most single-wheel independent ABS, design has more advantages when under unusual conditions, such as transition ...

Preliminary note The aim of the investigation was to compare and unveil efficiency of electro-hydraulic control (EHR) system to mechanical three point hitch regulation in mouldboard ploughing. Increase of working velocity and three point hitch automatic regulation activity decreased depth of ploughing at both regulation systems but electro-hydraulic system done it more accurately since deviatio...

Vehicle models whose propulsion system is based on electric motors are increasing in number within the automobile industry. They will soon become a reliable alternative to vehicles with conventional propulsion systems. The main advantages of this type of vehicles are the non-emission of polluting gases and noise and the effectiveness of electric motors compared to combustion engines. Some of th...

Based on the analysis of operating conditions tractor, a Hybrid four-wheel drive tractor is proposed, and formulate torque distribution control strategy based fuzzy control, to driving wheel slip rate in high traction efficiency range tractor. The vehicle model established AVL-CRUISE software, MATLAB/Simulink software. co-simulation was carried out plowing condition simulation results show that...

Planetary rovers will continue to evolve in the direction of enhanced mobility and more challenging terrain. Once the mechatronics are in place, it becomes the job of software to exploit the mobility of the platform to the maximum degree possible while minimizing exposure to risks. Local motion planners for outdoor offroad terrain typically use relatively high fidelity models of vehicle motion ...