Dynamic Analysis and Traversability Prediction of Tracked Vehicles on Soft Terrain

Unmanned ground vehicles are widely used in industries where repetitive tasks or high risk missions are required. Such vehicles usually operate on soft deformable terrains and still require human supervision due to the complexity of the interaction between the vehicle and the terrain. The dynamic mo...

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Bibliographic Details
Published in2007 IEEE International Conference on Networking, Sensing and Control pp. 279 - 284
Main Authors Al-Milli, S., Althoefer, K., Seneviratne, L.D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2007
Subjects
Extraterrestrial measurements
Humans
Industrial control
Kinematics
Land vehicles
Predictive models
Road vehicles
Soil properties
Vehicle dynamics
Vehicle safety
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Summary:Unmanned ground vehicles are widely used in industries where repetitive tasks or high risk missions are required. Such vehicles usually operate on soft deformable terrains and still require human supervision due to the complexity of the interaction between the vehicle and the terrain. The dynamic models currently used in predicting track forces on such terrains are empirical and out dated. This paper critically investigates the dynamics involved in a steady-state skid-steering manoeuvre of tracked vehicles and presents a novel technique for predicting track forces on soft terrains. The simulation results are in good agreement with previous field measurements. The results show that the coefficient of lateral resistance varies not only with turning radius but also with vehicle velocity, an aspect that has not been taken into consideration in previous models. Finally, a traversability criterion is presented.
ISBN:1424410754
9781424410750
DOI:10.1109/ICNSC.2007.372791