Friction Modelling With Slip For Planetary Exploration Rovers

Shilliday, S. R.K. , Swinton, S. , Al Oufi, S., McGookin, E. W. , Thomson, D. G. and Worrall, K. J. (2023) Friction Modelling With Slip For Planetary Exploration Rovers. In: 9th Internation Conference on Control, Decision and Information Technologies (CoDIT) 2023, Rome, Italy, 3-6 July 2023, pp. 1409-1414. ISBN 9798350311402 (doi: 10.1109/CoDIT58514.2023.10284488)

Abstract

One of the more complex challenges to be overcome when modelling the dynamics of any mobile platform is the representation of the forces of friction. In this work, a verified friction model for a four-wheel planetary rover with skid steering is set out. The model is implemented in multiple simulation scenarios to cover the full scope of the rover's mobility (forward motion, turning, braking, and accelerating) in both 2D and 3D environments.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Worrall, Dr Kevin and Thomson, Dr Douglas and Shilliday, Stuart and McGookin, Dr Euan and Al Oufi, Salim and Swinton, Sarah
• Authors: Shilliday, S. R.K., Swinton, S., Al Oufi, S., McGookin, E. W., Thomson, D. G., and Worrall, K. J.
• College/School: College of Science and Engineering; College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
• ISSN: 2576-3555
• ISBN: 9798350311402
• Copyright Holders: Copyright: © 2023 IEEE
• First Published: First published in 9th Internation Conference on Control, Decision and Information Technologies (CoDIT) 2023: 1409-1414
• Publisher Policy: Reproduced in accordance with the publisher copyright policy

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