Proceedings of the 2015 International Conference on Electrical, Computer Engineering and Electronics

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

Authors
Fengtian Lv, Nan Li, Haibo Gao, Liang Ding, Zhen Liu, Zongquan Deng, Xingguo Song, Bing Yan
Corresponding Author
Fengtian Lv
Available Online June 2015.
DOI
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Proceedings
2015 2nd International Conference on Electrical, Computer Engineering and Electronics
Part of series
Advances in Computer Science Research
Publication Date
June 2015
ISBN
978-94-62520-81-3
ISSN
2352-538X
DOI
https://doi.org/10.2991/icecee-15.2015.217How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

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  - 2015 2nd International Conference on Electrical, Computer Engineering and Electronics
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/icecee-15.2015.217
DO  - https://doi.org/10.2991/icecee-15.2015.217
ID  - Lv2015/06
ER  -