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TerRA: Terramechanics for Real-time Application

Barthelmes, Stefan (2018) TerRA: Terramechanics for Real-time Application. 5th Joint International Conference on Multibody System Dynamics, 24.-28. Juni 2018, Lissabon, Portugal.

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Official URL: http://imsd2018.tecnico.ulisboa.pt/Web_Abstracts_IMSD2018/pdf/WEB_PAPERS/IMSD2018_Full_Paper_57.pdf


Wheeled mobile robots are popular in planetary exploration and other challenging applications due to their robustness and energy-efficient mobility. Simulation models of such robots have gained importance for both, the development and model-based controller and observer design. The most challenging part to model is the interaction between soil and wheels - called Terramechanics. Although models for that interaction exist, they either have shortcomings in certain effects that are important for the locomotion or are computationally expensive. In this work, the novel empirical model ’Terramechanics for Real-Time Application (TerRA)’ for normal and longitudinal force calculation is presented, which is developed specifically for the locomotion of wheeled mobile robots in sandy terrain. It includes an elasto-plastic normal force, plastic and dynamic sinkage as well as a longitudinal force that is calculated dependent on the history of slip and velocity. By circumventing any spatial discretization, the computational effort of TerRA is low enough to make it suitable for rover optimization and on-board application.

Item URL in elib:https://elib.dlr.de/121815/
Document Type:Conference or Workshop Item (Speech)
Title:TerRA: Terramechanics for Real-time Application
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Barthelmes, StefanStefan.Barthelmes (at) dlr.dehttps://orcid.org/0000-0001-9619-5639
Date:June 2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:terramechanics; planetary exploration; planetary rover; locomotion; soft sand; sandy terrain; real-time;
Event Title:5th Joint International Conference on Multibody System Dynamics
Event Location:Lissabon, Portugal
Event Type:international Conference
Event Dates:24.-28. Juni 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Barthelmes, Stefan
Deposited On:11 Oct 2018 11:37
Last Modified:31 Jul 2019 20:19

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