Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis
This paper presents datasets and analyses of 3D LiDAR scans capturing the rutting behavior of a rover wheel in a single-wheel terramechanics testbed. The data were acquired using a LiDAR sensor to record the terrain deformation caused by the wheel’s passage through a Toyoura sandbed, which mimics lu...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | Aerospace |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2226-4310/12/1/71 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832589458764988416 |
|---|---|
| author | Keisuke Takehana Vinicius Emanoel Ares Shreya Santra Kentaro Uno Eric Rohmer Kazuya Yoshida |
| author_facet | Keisuke Takehana Vinicius Emanoel Ares Shreya Santra Kentaro Uno Eric Rohmer Kazuya Yoshida |
| author_sort | Keisuke Takehana |
| collection | DOAJ |
| description | This paper presents datasets and analyses of 3D LiDAR scans capturing the rutting behavior of a rover wheel in a single-wheel terramechanics testbed. The data were acquired using a LiDAR sensor to record the terrain deformation caused by the wheel’s passage through a Toyoura sandbed, which mimics lunar regolith. Vertical loads of 25 N, 40 N, and 65 N were applied to study how rutting patterns change, focusing on rut amplitude, height, and inclination. This study emphasizes the extraction and processing of terrain profiles from noisy point cloud data, using methods like curve fitting and moving averages to capture the ruts’ geometric characteristics. A sine wave model, adjusted for translation, scaling, and inclination, was fitted to describe the wheel-induced wave-like patterns. It was found that the mean height of the terrain increases after the grouser wheel passes over it, forming ruts that slope downward, likely due to the transition from static to dynamic sinkage. Both the rut depth at the end of the wheel’s path and the incline increased with larger loads. These findings contribute to understanding wheel–terrain interactions and provide a reference for validating and calibrating models and simulations. The dataset from this study is made available to the scientific community. |
| format | Article |
| id | doaj-art-265ca32c2a354c7db71dd55e7def07f8 |
| institution | Kabale University |
| issn | 2226-4310 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj-art-265ca32c2a354c7db71dd55e7def07f82025-01-24T13:15:44ZengMDPI AGAerospace2226-43102025-01-011217110.3390/aerospace12010071Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and AnalysisKeisuke Takehana0Vinicius Emanoel Ares1Shreya Santra2Kentaro Uno3Eric Rohmer4Kazuya Yoshida5The Space Robotics Laboratory (SRL) in Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai 980-8579, Miyagi, JapanAdvanced Robotics Laboratory (AdRoLab) in School of Electrical and Computer Engineering, State University of Campinas, Campinas 13083-852, São Paulo, BrazilThe Space Robotics Laboratory (SRL) in Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai 980-8579, Miyagi, JapanThe Space Robotics Laboratory (SRL) in Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai 980-8579, Miyagi, JapanAdvanced Robotics Laboratory (AdRoLab) in School of Electrical and Computer Engineering, State University of Campinas, Campinas 13083-852, São Paulo, BrazilThe Space Robotics Laboratory (SRL) in Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai 980-8579, Miyagi, JapanThis paper presents datasets and analyses of 3D LiDAR scans capturing the rutting behavior of a rover wheel in a single-wheel terramechanics testbed. The data were acquired using a LiDAR sensor to record the terrain deformation caused by the wheel’s passage through a Toyoura sandbed, which mimics lunar regolith. Vertical loads of 25 N, 40 N, and 65 N were applied to study how rutting patterns change, focusing on rut amplitude, height, and inclination. This study emphasizes the extraction and processing of terrain profiles from noisy point cloud data, using methods like curve fitting and moving averages to capture the ruts’ geometric characteristics. A sine wave model, adjusted for translation, scaling, and inclination, was fitted to describe the wheel-induced wave-like patterns. It was found that the mean height of the terrain increases after the grouser wheel passes over it, forming ruts that slope downward, likely due to the transition from static to dynamic sinkage. Both the rut depth at the end of the wheel’s path and the incline increased with larger loads. These findings contribute to understanding wheel–terrain interactions and provide a reference for validating and calibrating models and simulations. The dataset from this study is made available to the scientific community.https://www.mdpi.com/2226-4310/12/1/71ruttinggrouser-wheelterramechanicssingle wheel testplanetary rover |
| spellingShingle | Keisuke Takehana Vinicius Emanoel Ares Shreya Santra Kentaro Uno Eric Rohmer Kazuya Yoshida Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis Aerospace rutting grouser-wheel terramechanics single wheel test planetary rover |
| title | Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis |
| title_full | Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis |
| title_fullStr | Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis |
| title_full_unstemmed | Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis |
| title_short | Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis |
| title_sort | rutting caused by grouser wheel of planetary rover in single wheel testbed lidar topographic scanning and analysis |
| topic | rutting grouser-wheel terramechanics single wheel test planetary rover |
| url | https://www.mdpi.com/2226-4310/12/1/71 |
| work_keys_str_mv | AT keisuketakehana ruttingcausedbygrouserwheelofplanetaryroverinsinglewheeltestbedlidartopographicscanningandanalysis AT viniciusemanoelares ruttingcausedbygrouserwheelofplanetaryroverinsinglewheeltestbedlidartopographicscanningandanalysis AT shreyasantra ruttingcausedbygrouserwheelofplanetaryroverinsinglewheeltestbedlidartopographicscanningandanalysis AT kentarouno ruttingcausedbygrouserwheelofplanetaryroverinsinglewheeltestbedlidartopographicscanningandanalysis AT ericrohmer ruttingcausedbygrouserwheelofplanetaryroverinsinglewheeltestbedlidartopographicscanningandanalysis AT kazuyayoshida ruttingcausedbygrouserwheelofplanetaryroverinsinglewheeltestbedlidartopographicscanningandanalysis |