{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T13:42:44Z","timestamp":1778766164566,"version":"3.51.4"},"reference-count":26,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2012,3,16]],"date-time":"2012-03-16T00:00:00Z","timestamp":1331856000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Hazardous terrains pose a crucial challenge to mobile robots. To operate safely and efficiently, it is necessary to detect the terrain type and modify operation strategies in real-time. Fast analytical models of wheeled locomotion on deformable terrains are thus important. Based on classic terramechanics, a closed-form wheel\u2013soil interaction model was derived by quadratic approximation of stresses along the wheel\u2013soil interface. The bulldozing resistance and the effects of grousers were also added for more accurate prediction of wheel contact forces. A non-iterative method was proposed to estimate the entry angle, by using approximated vertical pressure acting on the wheels. The computational efficiency was improved by avoiding traditional recursive search. Real-time computation of the wheel contact forces is achieved by the terramechanics-based formula (TBF), which was developed by integrating the wheel\u2013soil interaction model and the entry angle estimator. In addition, an automotive-inspired approach was used to integrate the TBF and the simplified vehicle dynamics model for fast simulation of mobile robots. Stability problems in numerical simulation could be avoided by this method. The above models were verified by comparing simulation results and experiment data, including single-wheel experiments and full-vehicle experiments.<\/jats:p>","DOI":"10.1017\/s0263574712000069","type":"journal-article","created":{"date-parts":[[2012,3,16]],"date-time":"2012-03-16T10:41:39Z","timestamp":1331894499000},"page":"35-53","source":"Crossref","is-referenced-by-count":21,"title":["Fast analytical models of wheeled locomotion in deformable terrain for mobile robots"],"prefix":"10.1017","volume":"31","author":[{"given":"Zhenzhong","family":"Jia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"William","family":"Smith","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huei","family":"Peng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2012,3,16]]},"reference":[{"key":"S0263574712000069_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2026499"},{"key":"S0263574712000069_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.934823"},{"key":"S0263574712000069_ref12","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20187"},{"key":"S0263574712000069_ref6","volume-title":"Introduction to Terrain-Vehicle Systems","author":"Bekker","year":"1969"},{"key":"S0263574712000069_ref10","doi-asserted-by":"publisher","DOI":"10.1243\/0954407011525683"},{"key":"S0263574712000069_ref15","unstructured":"AESCO, Matlab\/Simulink Module AS2TM User's Guide (version 1.12) (online). available at: http:\/\/www.aesco.de\/ (accessed Sep., 2009) (2005)."},{"key":"S0263574712000069_ref1","doi-asserted-by":"crossref","DOI":"10.1007\/b94718","volume-title":"Mobile Robot in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers, Springer Tracts in Advanced Robotics","author":"Iagnemma","year":"2004"},{"key":"S0263574712000069_ref25","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS)","author":"Ishigami","year":"2005"},{"key":"S0263574712000069_ref20","volume-title":"Proceedings of ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE)","author":"Sohl","year":"2005"},{"key":"S0263574712000069_ref11","unstructured":"T. H. Tran , \u201cModeling and Control of Unmanned Ground Vehicles,\u201d Ph.D. Thesis (Sydney, Australia: Faculty of Engineering, University of Technology, Sydney, Sep. 2007)."},{"key":"S0263574712000069_ref5","volume-title":"Off the Road Locomotion","author":"Bekker","year":"1960"},{"key":"S0263574712000069_ref8","volume-title":"Theory of Ground Vehicles","author":"Wong","year":"2008"},{"key":"S0263574712000069_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(67)90105-X"},{"key":"S0263574712000069_ref14","doi-asserted-by":"publisher","DOI":"10.1080\/00423110500139981"},{"key":"S0263574712000069_ref16","first-page":"586","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Bauer","year":"2005"},{"key":"S0263574712000069_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2004.05.002"},{"key":"S0263574712000069_ref18","volume-title":"Land Locomotion Research Laboratory, Army Tank Automotive Command Report, 61","author":"Hegedus","year":"1960"},{"key":"S0263574712000069_ref19","unstructured":"G. Ishigami , \u201cTerramechanics-based Analysis and Control for Lunar\/Planetary Exploration Robots,\u201d Ph.D. Thesis (Sendai, Miyagi, Japan: Dept. of Aerospace Engineering, Tohoku University, Mar. 2008)."},{"key":"S0263574712000069_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2010.08.001"},{"key":"S0263574712000069_ref23","doi-asserted-by":"publisher","DOI":"10.1080\/00423110903243224"},{"key":"S0263574712000069_ref24","doi-asserted-by":"crossref","unstructured":"Z. Jia , W. Smith and H. Peng , \u201cFast computation of wheel-soil interactions for safe and efficient operation of mobile robots,\u201d 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 3004\u20133010 (2011).","DOI":"10.1109\/IROS.2011.6048149"},{"key":"S0263574712000069_ref21","unstructured":"G. Ishigmai , \u201cLocomotion Mechanics for Planetary Exploration Rovers based on Steering Characteristics,\u201d Master's Thesis (Sendai, Miyagi, Japan: Dept. of Aerospace Engineering, Tohoku University, Mar. 2005)."},{"key":"S0263574712000069_ref26","volume-title":"NASA Report TR-sR-401","author":"Costes","year":"1972"},{"key":"S0263574712000069_ref4","doi-asserted-by":"crossref","DOI":"10.3998\/mpub.9690401","volume-title":"Theory of Land Locomotion","author":"Bekker","year":"1956"},{"key":"S0263574712000069_ref7","volume-title":"Terramechanics and Off-Road Vehicles","author":"Wong","year":"1989"},{"key":"S0263574712000069_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000798"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574712000069","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,23]],"date-time":"2025-03-23T09:10:49Z","timestamp":1742721049000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574712000069\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,3,16]]},"references-count":26,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2013,1]]}},"alternative-id":["S0263574712000069"],"URL":"https:\/\/doi.org\/10.1017\/s0263574712000069","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,3,16]]}}}