Planetary Rovers’ Wheel Sinkage Detection Based on Wheel-Soil Boundary

DOI

10.2991/icecee-15.2015.217How to use a DOI?

Keywords

planetary rovers; wheel-soil interaction; wheel-soil boundary; sinkage; feature extraction;

Abstract

The detection of wheel sinkage has great significance for rover mobility optimization control and prevention of wheel sinking. A new wheel sinkage detection method is proposed based on planetary rovers’ wheel-soil boundary. The model of wheel sinkage calculation is built. The machine vision method is proposed to extract wheel-soil boundary. Wheel-soil interaction image is processed into binary image, and the wheel-soil boundary is extracted according to its morphological features. The wheel sinkage depth, entrance angle and departure angle are calculated through the model of wheel sinkage calculation. The method’s applicability has been validated by experiments under various terrain conditions, which are flat terrain, raised terrain, hollow terrain, and rough terrain. Accuracy tests are done with the flat terrain, the results of the experiments indicate that the relative errors of the sinkage depth are around 10% and the relative errors of terrain interface angles are around 5%, when the actual sinkage depth is above 5mm.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Fengtian Lv
AU  - Nan Li
AU  - Haibo Gao
AU  - Liang Ding
AU  - Zhen Liu
AU  - Zongquan Deng
AU  - Xingguo Song
AU  - Bing Yan
PY  - 2015/06
DA  - 2015/06
TI  - Planetary Rovers’ Wheel Sinkage Detection Based on Wheel-Soil Boundary
BT  - Proceedings of the 2015 International Conference on Electrical, Computer Engineering and Electronics
PB  - Atlantis Press
SP  - 1156
EP  - 1161
SN  - 2352-538X
UR  - https://doi.org/10.2991/icecee-15.2015.217
DO  - 10.2991/icecee-15.2015.217
ID  - Lv2015/06
ER  -