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Unique and accurate soil parameter identification for air-cushioned robotic vehicles

Published online by Cambridge University Press:  14 September 2015

Shuo Xu,
Yinan Gu,
Jing Sun and
Dawei Tu
Shuo Xu*
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, P. R. ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200072, P. R. China
Yinan Gu
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, P. R. China
Jing Sun
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, P. R. China
Dawei Tu
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, P. R. ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200072, P. R. China
*
*Corresponding author. E-mail: sxu@shu.edu.cn
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Summary

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On-line identification of soil parameters is a pre-condition of operating performance optimization and control for unmanned ground vehicles (UGV). Inverse calculation from measured vehicular operating parameters is a prevalent methodology. However, it inherently suffers from a multiple-solution problem caused by the coupling of soil parameters in terramechanics equations and an accuracy problem caused by the influences of state noise and measurement noise. These problems in tractive-force-related soil parameters identification were addressed here for air-cushioned vehicles (ACV) by taking advantage of their additional degree of control freedom in vertical force. To be specific, a g-function algorithm was proposed to solve the multiple-solution problem from reproductive tractive force equations; de-noising techniques consisting of mean-effect strategies, sampling points selection and sample rearrangement were employed to solve the accuracy problem. A series of experiments were conducted to evaluate these techniques at different noise levels and in different soil conditions. They got satisfactory results in terms of data utilization ratio, identification accuracy and performance stability. The contribution of the paper lies in inventing a novel algorithm for unique and accurate identification of tractive-force-related soil parameters without making any simplification to the original terramechanics equation and with robustness to variations of noise level and soil condition.

Keywords

Soil parameter identificationTerramechanicsMultiple-solution problemAir-cushioned vehicle (ACV)Unmanned ground vehicle (UGV)

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017, pp. 613 - 635
Copyright
Copyright © Cambridge University Press 2015 

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