Terramechanics based traction control of underwater wheeled robot
Paper
Paper/Presentation Title | Terramechanics based traction control of underwater wheeled robot |
---|---|
Presentation Type | Paper |
Authors | Boh, Tjasa (Author), Billingsley, John (Author), Bradbeer, Robin S. (Author) and Hodgson, Paul (Author) |
Editors | Ferguson, Brian |
Journal or Proceedings Title | Proceedings of OCEANS 2010 IEEE Sydney |
Article Number | 5603859 |
Number of Pages | 3 |
Year | 2010 |
Place of Publication | Piscataway, NJ, USA |
ISBN | 9781424452224 |
9781424452217 | |
Digital Object Identifier (DOI) | https://doi.org/10.1109/OCEANSSYD.2010.5603859 |
Web Address (URL) of Paper | http://www.oceans10ieeesydney.org/home.cfm |
Conference/Event | OCEANS'10 IEEE Sydney |
Event Details | OCEANS'10 IEEE Sydney Delivery In person 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. |
Keywords | applied theory; soil parameters; terramechanics; terrestrial systems; traction control; under water; underwater application; wheeled robot |
ANZSRC Field of Research 2020 | 400703. 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 Origin | University of Southern Queensland |
Byline Affiliations | Department of Mechanical and Mechatronic Engineering |
City University of Hong Kong, China |
https://research.usq.edu.au/item/q0v69/terramechanics-based-traction-control-of-underwater-wheeled-robot
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