Terramechanics based traction control of underwater wheeled robot

Boh, Tjasa and Billingsley, John ORCID: https://orcid.org/0000-0002-7198-5594 and Bradbeer, Robin S. and Hodgson, Paul (2010) Terramechanics based traction control of underwater wheeled robot. In: OCEANS 2010: Showcasing Advances in Marine Science and Engineering, 24-27 May 2010, Sydney, Australia.

[img]
Preview
PDF (Documentation)
Documentation.pdf

Download (561kB)

Abstract

The Bekker Theory of Locomotion has long been the leading applied theory when it comes to calculating and predicting soil-tyre interaction for terrestrial wheeled and tracked vehicles. Whilst the theory is applicable for terrestrial systems, there is no evidence to suggest it also applies under water. Furthermore, the complications of measuring the required soil parameters in marine substratum makes it difficult to apply. This paper explores the slip-based approach to the Bekker theorem and suggests an experiment designed to validate this theorem for underwater applications.


Statistics for USQ ePrint 19151
Statistics for this ePrint Item
Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Article number 5603859.
Faculty/School / Institute/Centre: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Faculty/School / Institute/Centre: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Date Deposited: 12 Jun 2011 08:07
Last Modified: 14 Oct 2019 00:20
Uncontrolled Keywords: applied theory; soil parameters; terramechanics; terrestrial systems; traction control; under water; underwater application; wheeled robot
Fields of Research (2008): 09 Engineering > 0913 Mechanical Engineering > 091303 Autonomous Vehicles
09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0911 Maritime Engineering > 091106 Special Vehicles
Fields of Research (2020): 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400703 Autonomous vehicle systems
40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400799 Control engineering, mechatronics and robotics not elsewhere classified
40 ENGINEERING > 4015 Maritime engineering > 401505 Special vehicles
Socio-Economic Objectives (2008): E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI: https://doi.org/10.1109/OCEANSSYD.2010.5603859
URI: http://eprints.usq.edu.au/id/eprint/19151

Actions (login required)

View Item Archive Repository Staff Only