Hardware-in-the-loop Simulatorを用いた車輪型移動ロボットの不整地走行解析と力学モデルのリアルタイムチューニング

抄録

Robotic mobility analysis in rough terrain is essential for mission success on robots deployed on planetary surfaces, construction, or disaster sites. A Hardware-in-the-loop Simulation (HILS) is known as an accurate and feasible method for dynamic analysis. The HILS is the hybrid approach that considers the contact dynamics of a robot in an actual environment and calculates the robot vehicle dynamics in a numerical simulation. We developed a HILS for wheeled mobile robot in loose terrain using a single wheel test bed. The HILS is verified under several traction load conditions. Further, the HILS is coupled with a wheel contact model based on the Dynamic Resistive Force Theory (DRFT). This HILS-DRFT can simultaneously simulate multiple wheels of the mobile robot. To improve the reliability of the DRFT, we implemented a real-time tuning process for the scaling factor used in the DRFT based on the wheel sinkage. The HILS-DRFT with the real-time tuning accurately reproduces the driving force of the actual vehicle.