Soil stiffness constants govern the soil sinkage and the pressure-sinkage behaviour of the soil under load. To determine soil stiffness constants in Upadhyaya model under field conditions, a field reflecting general character of an agricultural soil was selected and multiplate penetration tests were conducted. The soil stiffness constants in Upadhyaya model were determined from five sets of soi...

Traditional terramechanics theorems utilise pressure-sinkage models based on the assumption that the contact area between a tyre and soil can be approximated as a flat plate. Examples include work by Bekker, Reece, and Ishigami. Recently, the authors have demonstrated that 1) this approximation does not hold for wheels with a diameter less than approximately 50 cm and 2) an improved diameter-de...

A ship moving steadily forward in shallow water of constant depth h is usually subject to downward forces and hence squat, which is a potentially dangerous sinkage or increase in draft. Sinkage increases with ship speed, until it reaches a maximum at just below the critical speed p gh. Here we use both a linear transcritical shallow-water equation and a fully dispersive Ž nite-depth theory to d...

Establishing an automatically controlled system to obtain a maximum productivity of a bulldozer running on a weak terrain, the total traffic performance of a tracked vehicle could be clarified by use of a microcomputer in robotics from initial informations of terrain material and vehicle dimensions, Here, an useful estimation method of terrain properties : cohesion, angle of internal friction, ...

Wheel sinkage is an important indicator of mobile robot mobility in natural outdoor terrains. This paper presents a vision-based method to measure the sinkage of a rigid robot wheel in rigid or deformable terrain. The method is based on detecting the difference in intensity between the wheel rim and the terrain. The method uses a single grayscale camera and is computationally efficient, making ...

a non-linear finite element model could be a useful tool in the development of a method of predicting soil pressure-sinkage behaviour, and can be used to investigate and analyze soil compaction. this study was undertaken to emphasize that the finite element method (fem) is a proper technique to model soil pressure-sinkage behaviour. for this purpose, the finite element method was used to model ...

This paper proposes a method to predict maximum traction force for autonomous mobile robots on rough terrain in order to improve maneuverability. For predicting traction force, we utilize friction-slip curves based on modified Brixius model derived empirically in terramechanics, which is a function of mobility number Bn′ and slip ratio S. Friction-slip curves include physical characteristics of...

The tractive performance justification of an off-road vehicle is so important that it ensures the vehicle mobility over the unprepared peat terrain. Tractive performance of Low Ground Pressure (LGP-30) wheeled vehicle is investigated on the low bearing capacity moderate peat terrain in Malaysia. The simulation results showed that the vehicle sinkage is more than the critical sinkage value of 10...

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...