电子及电机学专业外文翻译--估计地形力和刚性轮式车辆参数.docVIP

外文原文： Estimation of Terrain Forces and Parameters for Rigid-Wheeled Vehicles Laura E. Ray, Member, IEEE Abstract—This paper provides a methodology for the estimation of resistance, thrust, and resistive torques on each wheel of a rigid-wheeled vehicle generated at the vehicle–terrain interface,and from these forces and moments, a methodology to estimate terrain parameters is presented. Terrain force estimation, which is independent of a terrain model, can infer the ability to accelerate,climb, or tow a load independent of the underlying terrain properties. When a terrain model is available, parameters of that model, such as soil cohesion, friction angle, maximum normal stress, and stress distribution parameters, are determined from estimated vehicle–terrain forces using a multiple-model estimation approach, providing parameters that relate to accepted mobility metrics. The methodology requires a standard proprioceptive sensor suite—accelerometers, rate gyros,wheel speeds, motor torques, and ground speed. Sinkage sensors are not required. Simulation results demonstrate efficacy of the method on three terrains spanning a range of soil cohesions reported in the literature. Index Terms—Mobile robot dynamics, terrain factors. I. INTRODUCTION MOBILE robot autonomy in off-road terrain depends on the ability of the robot to assess its mobility in real time or near real time. The robot’s envelope of operation—maximum achievable translational velocities, accelerations, and maneuverability on a given terrain—depends on the robot’s multibody dynamics and its interaction with the terrain, from which external forces and moments on the robot are generated. The multibody dynamics are, in general, reasonably well known. In contrast, knowledge of vehicle–terrain interaction forces generally depends on the validity of a terrain model and a large number of terrain parameters that are difficult to measure or infer usi