Dynamic modelling of wheel-terrain interaction of a UGV

Tran, TH; Kwok, NM; Scheding, S; Ha, QP

Dynamic modelling of wheel-terrain interaction of a UGV

Tran, TH Kwok, NM Scheding, S Ha, QP

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, 2007, pp. 369 - 374
Issue Date:: 2007-12-01

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Field	Value	Language
dc.contributor.author	Tran, TH	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Scheding, S	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2007-12-01	en_US
dc.identifier.citation	Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, 2007, pp. 369 - 374	en_US
dc.identifier.isbn	1424411548	en_US
dc.identifier.isbn	9781424411542	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2811
dc.description.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. © 2007 IEEE.	en_US
dc.relation.ispartof	Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007	en_US
dc.relation.isbasedon	10.1109/COASE.2007.4341715	en_US
dc.title	Dynamic modelling of wheel-terrain interaction of a UGV	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Scottsdale, Arizona, U.S.A.	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

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. © 2007 IEEE.

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http://hdl.handle.net/10453/2811