Terramechanics based traction control of underwater wheeled robot

Paper


Boh, Tjasa, Billingsley, John, Bradbeer, Robin S. and Hodgson, Paul. 2010. "Terramechanics based traction control of underwater wheeled robot." Ferguson, Brian (ed.) OCEANS 2010: Showcasing Advances in Marine Science and Engineering. Sydney, Australia 24 - 27 May 2010 Piscataway, NJ, USA. https://doi.org/10.1109/OCEANSSYD.2010.5603859
Paper/Presentation Title

Terramechanics based traction control of underwater wheeled robot

Presentation TypePaper
AuthorsBoh, Tjasa (Author), Billingsley, John (Author), Bradbeer, Robin S. (Author) and Hodgson, Paul (Author)
EditorsFerguson, Brian
Journal or Proceedings TitleProceedings of OCEANS 2010 IEEE Sydney
Article Number5603859
Number of Pages3
Year2010
Place of PublicationPiscataway, NJ, USA
ISBN9781424452224
9781424452217
Digital Object Identifier (DOI)https://doi.org/10.1109/OCEANSSYD.2010.5603859
Web Address (URL) of Paperhttp://www.oceans10ieeesydney.org/home.cfm
Conference/EventOCEANS 2010: Showcasing Advances in Marine Science and Engineering
Event Details
OCEANS 2010: Showcasing Advances in Marine Science and Engineering
Event Date
24 to end of 27 May 2010
Event Location
Sydney, Australia
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.

Keywordsapplied theory; soil parameters; terramechanics; terrestrial systems; traction control; under water; underwater application; wheeled robot
ANZSRC Field of Research 2020400703. Autonomous vehicle systems
400799. Control engineering, mechatronics and robotics not elsewhere classified
401505. Special vehicles
Public Notes

© 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.

Institution of OriginUniversity of Southern Queensland
Byline AffiliationsDepartment of Mechanical and Mechatronic Engineering
City University of Hong Kong, China
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