Skip to main content
SpringerLink
Log in

Analytical modeling and multi-objective optimization (MOO) of slippage for wheeled mobile robot (WMR) in rough terrain

  • Published:
Journal of Central South University Aims and scope Submit manuscript

Abstract

Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots (AWMR) in rough terrain. A model and analysis of relationship among wheel slippage (S), rotation angle (θ), sinkage (z) and wheel radius (r) are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. FUKE Y, KROTKOV E. Dead reckoning for a lunar rover on uneven terrain [C]// Proceedings of IEEE International Conference on Robotics and Automation. Minneapolis, Minnesota, 1996: 411–416.

  2. ASAE-American Society of Agricultural Engineers. Uniform terminology for traction of agricultural tractors, self-propelled implements, and other traction and transport devices [M]. Agricultural Engineers Yearbook of Standards, 1983: 190–192.

  3. ANI O A, XU H, ZHAO G. Analysis and modelling of slip for a five-wheeled mobile robot (WMR) in an uneven terrain [C]// Proceedings of International Conference on Mechatronics and Automation (ICMA). Beijing, China, 2011: 154–159.

  4. YOSHIDA K, HAMANO H. Motion dynamics and control of a planetary rover with slip-based traction model [C]// Unmanned Ground Vehicle Technology IV. 2002: 275–286.

  5. GUSTAFSSON F. Slip-based tire-road friction estimation [J]. Automatica, 1997, 33: 1087–1099.

    Article  MathSciNet  Google Scholar 

  6. IAGNEMMA K, WARD C C. Classification-based wheel slip detection and detector fusion for mobile robots on outdoor terrain [J]. Autonomous Robots, 2009, 26: 33–46.

    Article  Google Scholar 

  7. LINDGREN D R, HAGUE T, SMITH P J P, MARCHANT J A. Relating torque and slip in an odometric model for an autonomous agricultural vehicle [J]. Autonomous Robots, 2002, 13: 73–86.

    Article  MATH  Google Scholar 

  8. OJEDA L, BORENSTEIN J. Methods for the reduction of odometry errors in over-constrained mobile robots [J]. Autonomous Robots, 2004, 16: 273–286.

    Article  Google Scholar 

  9. XU H, TAN D, ZHANG Z, XUE K, JIN B. A reconfigurable mobile robot with 5th wheel [C]// Proceedings of the IEEE International Conference on Mechatronics and Automation. Changchun, China, 2009: 211–216.

  10. XU H, ZHANG Z, ALIPOUR K, XUE K, GAO X Z. Prototypes selection by multi-objective optimal design: Application to a reconfigurable robot in sandy terrain [J]. Industrial Robot: An International Journal, 2011, 38(6): 599–613.

    Article  Google Scholar 

  11. SCHENKER P, HUNTSBERGER T, PIRJANIAN P. Rovers for intelligent, agile traverse of challenging terrain [C]// International Conference on Advanced Robotics. Coimbra, Portugal: NASA Jet Propulsion Laboratory, 2003: 203–208.

  12. SAITOH K, MACHIDA T, KIYOKAWA K, TAKEMURA H. A 2D-3D integrated interface for mobile robot control using omnidirectional images and 3D geometric models. [C]// IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR). Montreal, Canada: i-SAIRAS, 2007: 173–176.

  13. IAGNEMMA K, SHIBLY H, RZEPNIEWSKI A, DUBOWSKY S. Planning and control algorithms for enhanced rough-terrain rover mobility [C]// Proceedings of the Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space. i-SAIRAS. 2001.

  14. WONG J Y. Theory of ground vehicles [M] Third Ed, New York: John Willey and Sons, 2001: 144–153.

    Google Scholar 

  15. THRUN S, BUECKEN A. Integrating grid-based and topological maps for mobile robot navigation [C]// Proceedings of 13th National Conference on Artificial Intelligence. Oregon, Poland, 1996: 944–950.

  16. BEKKER M G. Theory of land locomotion [EM/OL]. Ann Arbor, MI, University of Michigan Press, www.amazon.com/Theory-land-locomotion. 1956.

    Google Scholar 

  17. BEKKER M G. Off-the-road locomotion [EM/OL]. University of Michigan Press, www.amazon.com > Books > Reference. 1960.

  18. REINA G. Methods for wheel slip and sinkage estimation in mobile robots [M]. Robot Localization and Map Building, 2006: 561–578.

  19. YOSHIDA K. Slip, traction control, and navigation of a lunar rover [C]// Proceeding of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space. Nara, Japan, 2003: 1–7.

  20. IAGNEMMA K, GOLDA D, DUBOWSKY S. Experimental study of high-speed rough-terrain mobile robot models for reactive behaviours [C]// Proceedings of the 8th International Symposium on Experimental Robotics. Sant’ Angelo d’Ischia, Italy, 2002: 628–637.

  21. LINDGREN D R, HAGUE T, SMITH P J P, MARCHANT J A. Relating torque and slip in an odometric model for an autonomous agricultural vehicle [J]. Autonomous Robots, 2002, 13: 73–86.

    Article  MATH  Google Scholar 

  22. JANOSI Z, HANAMOTO B. The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils [C]// Proceedings of the 1st International Conference on Terrain-Vehicle Systems. Torino, 1961: 707–726.

  23. WONG J Y. Predicting the performances of rigid rover wheels on extraterrestrial surfaces based on test results obtained on earth [J]. J Terramechanics, 2012, 49(1): 49–61.

    Article  Google Scholar 

  24. HEMMAT A, NANKALI N, AGHILINATEGH N. Simulating stress-sinkage under a plate sinkage test using a viscoelastic 2D axisymmetric finite element soil model [J]. Soil & Tillage Research, 2012, 118: 107–116.

    Article  Google Scholar 

  25. GUSTAFSSON F. Slip-based tire-road friction estimation [J]. Automatica, 1997, 33: 1087–1099.

    Article  MathSciNet  Google Scholar 

  26. DING L, GAO H, DENG Z, NAGATANI K, YOSHIDA K. Experimental study and analysis on driving wheel’s performance for planetary exploration rovers moving in deformable soil [J]. Journal of Terramechanics, 2011, 48: 27–45.

    Article  Google Scholar 

  27. STROUD K A. Advanced engineering mathematics [M]. Fourth Edition. Houndmills, Palgrave Macmillan, 2003: 940–948.

    Google Scholar 

  28. CHI-KEONG G, KAY C T. Evolutionary multi-objective optimization in uncertain environments [M]. KACPRZYK J, Ed. Springer, 2009: 1–39.

  29. SHIBLY H, IAGNEMMA K, DUBOWSKY S. An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers [J]. Journal of Terramechanics, 2005, 42: 1–13.

    Article  Google Scholar 

  30. ZHANG Z. Kinematics and Estimation study on a rough terrain mobile robot [D]. Harbin Engineering University, 2011. (in Chinese)

  31. BEKKER M G. Theory of land locomotion [M]. Ann Arbor: University of Michigan Press, 1956.

    Google Scholar 

  32. SREENIVASAN S, WALDRON K. Displacement analysis of an actively articulated wheeled vehicle configuration with extensions to motion planning on uneven surface [J]. J Mech Des, 1996, 118(2): 312–317.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    O. A. Ani, He Xu  (徐贺), Kai Xue  (薛开), Shao-gang Liu  (刘少刚) & Zhen-yu Zhang  (张振宇)

Authors
  1. O. A. Ani
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. He Xu  (徐贺)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Kai Xue  (薛开)
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Shao-gang Liu  (刘少刚)
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Zhen-yu Zhang  (张振宇)
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to He Xu  (徐贺).

Additional information

Foundation item: Project(60775060) supported by the National Natural Science Foundation of China; Project(F200801) supported by the Natural Science Foundation of Heilongjiang Province, China; Project(200802171053, 20102304110006) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China; Project(2012RFXXG059) supported by Harbin Science and Technology Innovation Talents Special Fund, China

Rights and permissions

Reprints and permissions

About this article

Cite this article

Ani, O.A., Xu, H., Xue, K. et al. Analytical modeling and multi-objective optimization (MOO) of slippage for wheeled mobile robot (WMR) in rough terrain. J. Cent. South Univ. 19, 2458–2467 (2012). https://doi.org/10.1007/s11771-012-1297-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-012-1297-6

Key words

Search

Navigation