External perception based on vision plays a critical role in developing improved and robust localization algorithms, as well as gaining important information about the vehicle and the terrain it is traversing. This paper presents two novel methods for rough terrain-mobile robots, using visual input. The first method consists of a stereovision algorithm for real-time 6DoF ego-motion estimation. ...

The analysis of indentation of rigid cylindrical wheels into frictional/cohesive soils is presented. Threeand two-dimensional numerical simulations were performed using the finite element code ABAQUS to assess the influence of soil strength parameters, dilatancy, and wheel geometry on the relationship between the indentation force and wheel sinkage. The effect of three-dimensionality in the ind...

Theoretical models for predicting penetration of non-driving (towed) rigid cylindrical wheels rolling on frictional/cohesive soils are presented. The models allow for investigating the influence of soil parameters and wheel geometry on the relationship between the inclined rolling force and wheel sinkage in the presence of permanently formed ruts. The rolling process is simulated numerically in...

The construction of a scientific and effective soil pressure-sinkage model under sloped terrain condition has important guiding significance for the investigation compaction effect. It is also theoretical calculation driving resistance design optimization undercarriage structure hillside metal-tracked tractors (HMTs). classic Bekker’s does not consider influence water content, bulk density, slo...

In the 1960s, Bekker developed the formulae that constitute the core of terramechanics. These semi-empirically derived equations allow the designers of large vehicles to understand and predict vehicle mobility performance over deformable terrains. In recent years, researchers have questioned the accuracy with which Bekker theory can be applied to smaller vehicles. Specifically, Bekker theory is...

A procedure is proposed to perform ship hydrodynamics computations for a wide range of velocities in a single run, herein called the computational towing tank. The method is based on solving the fluid flow equations using an inertial earth-fixed reference frame, and ramping up the ship speed slowly such that the time derivatives become negligible and the local solution corresponds to a quasi st...

Variations in sinkage and cone index are of crucial importance when planning fieldwork, and for determining the trafficability of farm machinery. Many studies have highlighted the link between higher values of these parameters and dramatic decreases in crop yield. Variations in the dry bulk density and cone index of clayey soil in Southern Spain were measured following each of five successive p...

This article traces the contributions of Prof. E.O. Tuck to the field of mathematical ship squat prediction. The review expands on Tuck’s own review of his early work [1] and describes the use of his formulae in modern squat prediction methods. A method for calculating Tuck’s sinkage and trim coefficients using easilyobtainable ship parameters is also described.

Typical rovers with wheels equipped with conventional grousers are prone to getting stuck in unconsolidated sandy dune inclines as the wheels tend to sink into the sand. This phenomenon is caused by the motion of the grouser through the sand during the latter half of the rotation, in which the grouser pushes the sand from underneath the wheel upwards and towards the backside of the wheel. This ...

The applicability of the typical pressure–sinkage models used to characterize soil’s bearing properties is limited homogeneous soils (infinite thickness) that have no hard layer. At a given depth, layer can considerable impact on load-bearing capacity. It thus necessary alter equation by taking this condition into account when assessing present paper aims determine simple, high-fidelity model, ...