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Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor
Xu, He; Xu, Yan; Wang, Peiyuan; Yu HP(于洪鹏); Ani, Ozoemena Anthony; Gao, X. Z.
Department管理支撑部门
Source PublicationINDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
ISSN0143-991X
2017
Volume44Issue:6Pages:798-807
Indexed BySCI ; EI
EI Accession number20174404344429
WOS IDWOS:000413936600012
Contribution Rank2
KeywordSensors Robotics Mobile Robots
AbstractPurpose - The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy. Design/methodology/approach - First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including "rigid wheel - rigid terrain" model and "rigid wheel - deformable terrain" model. Findings - In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results. Originality/value - This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Industrial ; Robotics
WOS KeywordTRACTION CONTROL ; ROBOTIC VEHICLES ; MOBILE ROBOT ; ROVER
WOS Research AreaEngineering ; Robotics
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21220
Collection管理支撑部门
Corresponding AuthorXu, Yan
Affiliation1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Department of Agricultural and Bioresources Engineering, University of Nigeria, Nsukka, Nigeria
4.Machine Vision and Pattern Recognition Laboratory, Lappeenranta University of Technology, Lappeenranta, Finland
Recommended Citation
GB/T 7714
Xu, He,Xu, Yan,Wang, Peiyuan,et al. Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2017,44(6):798-807.
APA Xu, He,Xu, Yan,Wang, Peiyuan,Yu HP,Ani, Ozoemena Anthony,&Gao, X. Z..(2017).Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,44(6),798-807.
MLA Xu, He,et al."Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 44.6(2017):798-807.
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