A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil

@inproceedings{Irani2011ADT,
  title={A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil},
  author={Rishad A. Irani and Robert Bauer and Andrew Warkentin},
  year={2011}
}
Abstract This paper presents a validated dynamic terramechanic model for rigid wheels with grousers that may be used for planetary and terrestrial mobile robots operating in loose sandy soil. The proposed model is based on established analytical terramechanic theories and incorporates two new dimensionless empirical coefficients. The additional terms in the model are based on existing soil mechanic theories that vary as a function of soil properties, slip conditions, and vehicle loading. The… CONTINUE READING

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