Wheel-Terrain Contact Geometry Estimation and Interaction Analysis Using Aside-Wheel Camera Over Deformable Terrains

Wheeled mobile robots (WMRs) have been proven to be quite competitive and useful in outdoor missions. However, they may face serious sinkage or slippage on deformable terrains, and even get stuck or damaged, thereby causing mission failure. To mitigate these risks, it is essential to closely monitor...

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Veröffentlicht in:	IEEE robotics and automation letters 2023-11, Vol.8 (11), p.7639-7646
Hauptverfasser:	Xue, Feng, Yao, Chen, Yuan, Ye, Ge, Yangtao, Shi, Wujie, Zhu, Zheng, Ding, Liang, Jia, Zhenzhong
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Cameras Contact angle Empirical analysis Error analysis Field robots Formability Mobile robots Real-time systems Robot vision systems robotics in hazardous fields Robots Slip Slippage Soil Stress Terrain Wheels
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