NDLI: Dynamic Modelling of Wheel-Terrain Interaction of a UGV

Content Provider	IEEE Xplore Digital Library
Author	Tran, T.H. Kwok, N.M. Scheding, S. Ha, Q.P.
Copyright Year	2007
Description	Author affiliation: Sydney Univ. of Technol., Sydney (Tran, T.H.; Kwok, N.M.; Ha, Q.P.)
Abstract	Understanding the vehicle-terrain interaction is essential for autonomous and safe operations of skid-steering unmanned ground vehicles (UGVs). This paper presents a comprehensive analysis of the dynamic processes involved in this interaction, using the vehicle kinetics and the theory of terramechanics to derive systematically shear displacement, reaction force, and load distribution for a wheel. The new model is then summarized in the form of an algorithm to allow for computation of characteristic performance of the interaction such as slip ratios, rolling resistance, and moment of turning resistance for a number of terrain types. Given the current state of the vehicle and terrain parameters, the model can be used to estimate its next states and to predict the vehicle running path. The development is illustrated by simulation and verified with experimental data.
Starting Page	369
Ending Page	374
File Size	717121
Page Count	6
File Format	PDF
ISBN	9781424411535
DOI	10.1109/COASE.2007.4341715
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Stress Land vehicles Remotely operated vehicles Kinetic theory Vehicle dynamics Immune system Torque Automation Automotive engineering
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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