지형역학 기반 달 탐사로버 주행성능 예측 및 평가

다국어 초록 (Multilingual Abstract)

To achieve a successful mission, the mobility performance of a lunar exploration rover should be evaluated and fully understood with respect to the lunar terrain properties. In this paper, we described two experimental methods to identify the accurate terrain parameters in a lunar simulant. From the experimental data, the classic Wong and Levenberg-Marquardt methods were utilized to derive the terrain properties associated with normal and shear stresses. Also, we assembled a wheel test bed of the rover in order to evaluate the mobility performance according to slip ratio and wheel width. The factors that affect the driving performance of rover wheels were examined based on terramechanics. Using the test bed, the sinkage, drawbar pull, and tractive coefficient were measured with various slip ratio and wheel width. These experimental results were compared to the simulation results based on the wheel-terrain interaction model.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 휠 - 지형 상호작용 모델
• III. 지형특성 분석
• IV. 휠 테스트베드 기반 주행성능 평가
• V. 결론
• REFERENCES

참고문헌 (Reference)

1 김건중, "행성탐사 로버 휠 테스트 베드 설계 및 주행 실험" 제어·로봇·시스템학회 21 (21): 372-377, 2015

2 김자영, "로봇의 지질 저항력 추정에 기반한 야지 노면 분류" 제어·로봇·시스템학회 23 (23): 186-193, 2017

3 H. Gavin, "The Levenberg-Marquardt Method for Nonlinear Least Squares Curve-Fitting Problems" Duke University 2011

4 Z. Janosi, "The Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicle" 1961

5 K. Iagnemma, "Terramechanics Modeling of Mars Surface Exploration Rovers for Simulation and Parameter Estimation" 2011

6 G. Ishigami, "Terramachanics-based Analysis and Control for Lunar/Planetary Exploration Robots" Tohoku University 2008

7 P. Jayakumar, "Stochastic Modeling and Uncertainty Cascade of Soil Bearing and Shearing Characteristics for Light-Weight Vehicle Applications" 2013

8 K. -J. Kim, "Slip Sinkage of Planetary Exploration Rover according to Variation of Slip Ratio and Wheel Width" 2015

9 D. Apostolopoulos, "Results of the Inflatable Robotic Rover Testbed" Robotics Institute, Carnegie Mellon University 2003

10 J. Q. Li, "Pressure-Sinkage Model and Experimental Research of Interaction between Rigid-Wheel and Simulant Lunar Soil" 1328-1333, 2009

11 J. -Y. Wong, "Prediction of Rigid Wheel Performance Based on the Analysis of Soil-Wheel Stresses, Part 1. Performance of Driven Rigid Wheels" 4 (4): 81-98, 1967

12 M. Garber, "Prediction of Ground Pressure Distribution under Tracked Vehicles-I. An Anaytical Method for Predicting Ground Pressure Distribution" 18 (18): 1-23, 1981

13 B. Schäfer, "Planetary Rover Mobility Performance Simulation Tool" 2008

14 L. Ding, "Parameter Identification for Planetary Soil based on Decoupled Analytical Wheel-Soil Interaction Terramechanics Model" 2009

15 K. Iagnemma, "Online Terrain Parameter Estimation for Wheeled Mobile Robots with Application to Planetary Rovers" 20 (20): 925-927, 2004

16 G.-C. Jang, "Numerical Analysis for Wheel-Soil Interaction Using the Discrete Element Method" Myongji University 2016

17 K. Skonieczny, "Novel Experimental Technique for Visualizing and Analyzing Robot-Soil Interactions" 2012

18 K.-J. Kim, "Modeling of Wheel-Soil Interaction and Evaluation of Mobility Performance for Lunar/Planetary Exploration Rover" Chonbuk National University 2017

19 S. -S. Yang, "Landing Behaviors of Lunar Lander Considering the Effect of Lunar Regolith" 1676-1681, 2012

20 M. G. Bekker, "Introduction to Terrain-Vehicle Systems" 4 (4): 75-77, 1970

21 I. -H. Chang, "Geotechnical Engineering Preparations for Lunar Exploration-Soil Mechanics with Lunar Soil and Laboratory Demonstration of Lunar Environments (1st year)" KICT 2014

22 H.-J. Shin, "Experimental Study on a Lunar Exploration Rover at a Single Wheel" Hanyang University 2015

23 C. -C. Wang, "Experimental Analysis of Wheel Mobility Performance for Planetary Rovers on Lunar Soil Simulant" 262-263, 2016

24 K. -J. Kim, "Evaluation of Slip Sinkage according to Variation of Wheel Width of Planetary Exploration Rover" 1489-1492, 2015

25 K. -J. Kim, "Evaluation of Driving Performance for Planetary Exploration Rover according to Variation of Slip Ratio and Wheel Shape" 2016

26 R. Irani, "Dynamic Terramechanic Model for Lightweight Wheeled Mobile Robots" Dalhousie University 2011

27 K. Iizuka, "Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage" 11 (11): 1-7, 2014

28 K. -J. Kim, "Design of Wheel Test Bed of Planetary Exploration Rover and Preliminary Experiment" 1289-1292, 2014

29 J. -Y. Wong, "Data Processing Methodology in the Characterization of the Mechanical Properties of Terrain" 17 (17): 13-41, 1980

30 K. -J. Kim, "Analysis of Wheel-Terrain Interaction and Evaluation of Mobility Performance for Lunar Exploration Rover" 114-120, 2017

31 D. W. Marquardt, "An Algorithm for Least-Squares Estimation of Nonlinear Parameters" 11 (11): 431-441, 1963