{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:46Z","timestamp":1754155426063,"version":"3.41.2"},"reference-count":23,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2017,10,16]],"date-time":"2017-10-16T00:00:00Z","timestamp":1508112000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,10,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including \u201crigid wheel - rigid terrain\u201d model and \u201crigid wheel - deformable terrain\u201d model.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-03-2017-0053","type":"journal-article","created":{"date-parts":[[2017,8,17]],"date-time":"2017-08-17T19:10:03Z","timestamp":1502997003000},"page":"798-807","source":"Crossref","is-referenced-by-count":2,"title":["Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor"],"prefix":"10.1108","volume":"44","author":[{"given":"He","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peiyuan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongpeng","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ozoemena Anthony","family":"Ani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"X.Z.","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"1","key":"key2020120508045777800_ref001","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1023\/A:1015674004201","article-title":"An agricultural mobile robot with vision-based perception for mechanical weed control","volume":"13","year":"2002","journal-title":"Autonomous Robots"},{"issue":"3","key":"key2020120508045777800_ref002","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1017\/S0263574799002234","article-title":"Kinematic state estimation for a Mars rover","volume":"18","year":"2000","journal-title":"Robotica"},{"key":"key2020120508045777800_ref003","first-page":"1","article-title":"Path-following control of wheeled planetary exploration robots moving on deformable rough terrain","year":"2014","journal-title":"The Scientific World Journal"},{"key":"key2020120508045777800_ref004","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1007\/978-3-540-33453-8_50","article-title":"Development of an autonomous forest machine for path tracking","volume":"25","year":"2006","journal-title":"Springer Tracts in Advanced Robotics - Field and Service Robotics"},{"first-page":"137","article-title":"Vehicle wheel-terrain contact angle estimation: with application to mobile robot traction control","year":"2000","key":"key2020120508045777800_ref005"},{"first-page":"1429","article-title":"Mobile robot Rough-Terrain Control (RTC) for planetary exploration","year":"2000","key":"key2020120508045777800_ref006"},{"issue":"10\/11","key":"key2020120508045777800_ref007","first-page":"1029","article-title":"Traction control of wheeled robotic vehicles in rough terrain with application to planetary rovers","volume":"23","year":"2004","journal-title":"International Journal of Robotics Research"},{"first-page":"3142","article-title":"On-line terrain parameter estimation for planetary rovers","year":"2002","key":"key2020120508045777800_ref008"},{"issue":"1","key":"key2020120508045777800_ref009","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1023\/A:1020962718637","article-title":"Control of robotic vehicles with actively articulated suspensions in rough terrain","volume":"14","year":"2003","journal-title":"Autonomous Robots"},{"first-page":"1","article-title":"Planning and control algorithms for enhanced rough-terrain rover mobility","year":"2001","key":"key2020120508045777800_ref010"},{"key":"key2020120508045777800_ref011","unstructured":"Kang, S. 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