Space Robotics: Dynamics and Control
Space Robotics: Dynamics and Control
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
International Journal of Robotics Research
Journal of Field Robotics - Special Issue on Space Robotics
Effect of Slip on Tractive Performance of Small Rigid Wheel on Loose Sand
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Slope traversal controls for planetary exploration rover on sandy terrain
Journal of Field Robotics - Special Issue on Space Robotics, Part I
Visual detection of novel terrain via two-class classification
Proceedings of the 2009 ACM symposium on Applied Computing
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Slip ratio for lugged wheel of planetary rover in deformable soil: definition and estimation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers
IEEE Transactions on Robotics
Kinematics Modeling and Analyses of Articulated Rovers
IEEE Transactions on Robotics
International Journal of Robotics Research
Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation
International Journal of Robotics Research
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With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary rovers, terramechanics (wheel---soil interaction mechanics) is playing an important role in the development of these rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the terramechanics theory for planetary rovers, which is becoming a new research hotspot, is unique and puts forward many new challenging problems. This paper first discusses the significance of the study of wheel---soil interaction mechanics of planetary rovers and summarizes the differences between planetary rovers and terrestrial vehicles and the problems arising thereof. The application of terramechanics to the development of planetary rovers can be divided into two phases (the R&D phase and exploration phase for rovers) corresponding to the high-fidelity and simplified terramechanics models. This paper also describes the current research status by providing an introduction to classical terramechanics and the experimental, theoretical, and numerical researches on terramechanics for planetary rovers. The application status of the terramechanics for planetary rovers is analyzed from the aspects of rover design, performance evaluation, planetary soil parameter identification, dynamics simulation, mobility control, and path planning. Finally, the key issues for future research are discussed. The current planetary rovers are actually advanced wheeled mobile robots (WMRs), developed employing cutting-edge technologies from different fields. The terramechanics for planetary rovers is expected to present new challenges and applications for WMRs, making it possible to develop WMRs using the concepts of mechanics and dynamics.