Dynamic Wheel-Soil Model for Lightweight Mobile Robots with Smooth Wheels


This paper extends traditional wheel– soil modeling for lightweight mobile robots operating with smooth wheels on dry sandy soil to capture the transient oscillations that have been observed in drawbar pull measurements. To model these drawbar pull fluctuations, a new dynamic pressure–sinkage relationship was extrapolated from the literature and… (More)
DOI: 10.1007/s10846-012-9777-3

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