| Autor: |
Baochang Liu, Lihang Feng, Dong Wang |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 14, Iss 6, p 2319 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app14062319 |
| Popis: |
When traversing soft and rugged terrain, a planetary rover is susceptible to slipping and sinking, which impedes its movement. The real-time detection of wheel sinkage in the planetary wheel-on-limb system is crucial for enhancing motion safety and passability on such terrain. Initially, this study establishes a measurement of wheel sinkage under complex terrain conditions. Subsequently, a monocular vision-based wheel sinkage detection method is presented by combining the wheel–terrain boundary with the wheel center position (WTB-WCP). The method enables the efficient and accurate detection of wheel sinkage through two-stage parallel computation of the wheel–terrain boundary fitting and wheel center localization. Finally, this study establishes an experimental platform based on a monocular camera and the planetary rover wheel-on-limb system to experimentally validate and comparatively analyze the proposed method. The experimental results demonstrate that the method effectively provides information on the wheel sinkage of the planetary rover wheel-on-limb system, and the relative errors of the method do not exceed 4%. The method has high accuracy and reliability and is greatly significant for the safety and passability of planetary rovers in soft and rugged terrain. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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