Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor

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	Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor
	Ani, Ozoemena Anthony ; Gao, X. Z.; Yu HP(于洪鹏); Wang, Peiyuan ; Xu, Yan ; Xu, He
刊名	INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
	2017
卷号	44 期号:6 页码:798-807
关键词	Sensors Robotics Mobile robots
ISSN号	0143-991X
通讯作者	Xu, Yan
产权排序	2
中文摘要	Purpose - 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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Industrial ; Robotics
研究领域[WOS]	Engineering ; Robotics
关键词[WOS]	TRACTION CONTROL ; ROBOTIC VEHICLES ; MOBILE ROBOT ; ROVER
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000413936600012
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21220]
专题	沈阳自动化研究所_管理支撑部门
作者单位	1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China 2.Machine Vision and Pattern Recognition Laboratory, Lappeenranta University of Technology, Lappeenranta, Finland 3.Department of Agricultural and Bioresources Engineering, University of Nigeria, Nsukka, Nigeria 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Ani, Ozoemena Anthony,Gao, X. Z.,Yu HP,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	Ani, Ozoemena Anthony,Gao, X. Z.,Yu HP,Wang, Peiyuan,Xu, Yan,&Xu, He.(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	Ani, Ozoemena Anthony,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.