Terramechanics based traction control of underwater wheeled robot

Boh, Tjasa and Billingsley, John 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.

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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.

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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: Article number 5603859 Permanent restricted access to published version due to publisher copyright policy.
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 12 Jun 2011 08:07
Last Modified: 03 Jul 2013 00:40
Uncontrolled Keywords: applied theory; soil parameters; terramechanics; terrestrial systems; traction control; under water; underwater application; wheeled robot
Fields of Research : 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
Socio-Economic Objective: E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI: 10.1109/OCEANSSYD.2010.5603859
URI: http://eprints.usq.edu.au/id/eprint/19151

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