Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification

S. Hutangkabodee; Y. H. Zweiri; L. D. Seneviratne; K. Althoefer

doi:10.1007/978-3-540-33453-8_43

Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification

S. Hutangkabodee, Y. H. Zweiri, L. D. Seneviratne, K. Althoefer

King's College London

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

A technique for identifying lumped soil parameters on-line while tra-versing with a tracked unmanned ground vehicle (UGV) on an unknown terrain is presented. This paper shows the multi-solution problem when identification of soil parameters cohesion (c), shear deformation modulus (φ), and shear deformation modulus (K) are to be attempted using the track-terrain interaction dynamics model. The initiation of the idea of lumping the cohesion and internal friction angle terms and treating them as a single parameter to solve this problem is presented. The technique used for lumped soil parameter identification is based on the Newton Raphson method. This method is proved to be very effective in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. These identified lumped soil parameters can be used to increase the autonomy of a tracked UGV. The technique presented in this paper is general and can be applied to any tracked UGV.

Original language	British English
Title of host publication	Robotics
Subtitle of host publication	Results of the 5th International Conference
Editors	Salah Sukkariah, Peter Corke
Publisher	Springer Verlag
Pages	517-528
Number of pages	12
ISBN (Print)	3540334521, 9783540334521, 9783540334521
DOIs	https://doi.org/10.1007/978-3-540-33453-8_43
State	Published - 2006
Event	5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia Duration: 29 Jul 2005 → 31 Jul 2005

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	25
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Conference

Conference	5th International Conference on Field and Service Robotics, FSR 2005
Country/Territory	Australia
City	Port Douglas
Period	29/07/05 → 31/07/05

Keywords

Identification
Interaction dynamics
Lumped
Multi-solution
Newton raphson method
Soil parameter
Tracked UGVs

Access to Document

10.1007/978-3-540-33453-8_43

Cite this

Hutangkabodee, S., Zweiri, Y. H., Seneviratne, L. D., & Althoefer, K. (2006). Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. In S. Sukkariah, & P. Corke (Eds.), Robotics: Results of the 5th International Conference (pp. 517-528). (Springer Tracts in Advanced Robotics; Vol. 25). Springer Verlag. https://doi.org/10.1007/978-3-540-33453-8_43

@inproceedings{8c24ab1b697947cc9068b8cd882a51f4,

title = "Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification",

abstract = "A technique for identifying lumped soil parameters on-line while tra-versing with a tracked unmanned ground vehicle (UGV) on an unknown terrain is presented. This paper shows the multi-solution problem when identification of soil parameters cohesion (c), shear deformation modulus (φ), and shear deformation modulus (K) are to be attempted using the track-terrain interaction dynamics model. The initiation of the idea of lumping the cohesion and internal friction angle terms and treating them as a single parameter to solve this problem is presented. The technique used for lumped soil parameter identification is based on the Newton Raphson method. This method is proved to be very effective in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. These identified lumped soil parameters can be used to increase the autonomy of a tracked UGV. The technique presented in this paper is general and can be applied to any tracked UGV.",

keywords = "Identification, Interaction dynamics, Lumped, Multi-solution, Newton raphson method, Soil parameter, Tracked UGVs",

author = "S. Hutangkabodee and Zweiri, {Y. H.} and Seneviratne, {L. D.} and K. Althoefer",

note = "Funding Information: The authors thank J.Y. Wong for providing useful experimental information. Also, the authors would like to acknowledge EPSRC (GR/S31402/01), Ministry of Defense (MoD), QinetiQ Ltd. and DSTL for funding this project. Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2006.; 5th International Conference on Field and Service Robotics, FSR 2005 ; Conference date: 29-07-2005 Through 31-07-2005",

year = "2006",

doi = "10.1007/978-3-540-33453-8_43",

language = "British English",

isbn = "3540334521",

series = "Springer Tracts in Advanced Robotics",

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Hutangkabodee, S, Zweiri, YH , Seneviratne, LD & Althoefer, K 2006, Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. in S Sukkariah & P Corke (eds), Robotics: Results of the 5th International Conference. Springer Tracts in Advanced Robotics, vol. 25, Springer Verlag, pp. 517-528, 5th International Conference on Field and Service Robotics, FSR 2005, Port Douglas, Australia, 29/07/05. https://doi.org/10.1007/978-3-540-33453-8_43

Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. / Hutangkabodee, S.; Zweiri, Y. H.; Seneviratne, L. D. et al.
Robotics: Results of the 5th International Conference. ed. / Salah Sukkariah; Peter Corke. Springer Verlag, 2006. p. 517-528 (Springer Tracts in Advanced Robotics; Vol. 25).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification

AU - Hutangkabodee, S.

AU - Zweiri, Y. H.

AU - Seneviratne, L. D.

AU - Althoefer, K.

N1 - Funding Information: The authors thank J.Y. Wong for providing useful experimental information. Also, the authors would like to acknowledge EPSRC (GR/S31402/01), Ministry of Defense (MoD), QinetiQ Ltd. and DSTL for funding this project. Publisher Copyright: © Springer-Verlag Berlin Heidelberg 2006.

PY - 2006

Y1 - 2006

N2 - A technique for identifying lumped soil parameters on-line while tra-versing with a tracked unmanned ground vehicle (UGV) on an unknown terrain is presented. This paper shows the multi-solution problem when identification of soil parameters cohesion (c), shear deformation modulus (φ), and shear deformation modulus (K) are to be attempted using the track-terrain interaction dynamics model. The initiation of the idea of lumping the cohesion and internal friction angle terms and treating them as a single parameter to solve this problem is presented. The technique used for lumped soil parameter identification is based on the Newton Raphson method. This method is proved to be very effective in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. These identified lumped soil parameters can be used to increase the autonomy of a tracked UGV. The technique presented in this paper is general and can be applied to any tracked UGV.

AB - A technique for identifying lumped soil parameters on-line while tra-versing with a tracked unmanned ground vehicle (UGV) on an unknown terrain is presented. This paper shows the multi-solution problem when identification of soil parameters cohesion (c), shear deformation modulus (φ), and shear deformation modulus (K) are to be attempted using the track-terrain interaction dynamics model. The initiation of the idea of lumping the cohesion and internal friction angle terms and treating them as a single parameter to solve this problem is presented. The technique used for lumped soil parameter identification is based on the Newton Raphson method. This method is proved to be very effective in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. These identified lumped soil parameters can be used to increase the autonomy of a tracked UGV. The technique presented in this paper is general and can be applied to any tracked UGV.

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KW - Interaction dynamics

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KW - Newton raphson method

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SN - 9783540334521

T3 - Springer Tracts in Advanced Robotics

SP - 517

EP - 528

BT - Robotics

A2 - Sukkariah, Salah

A2 - Corke, Peter

PB - Springer Verlag

T2 - 5th International Conference on Field and Service Robotics, FSR 2005

Y2 - 29 July 2005 through 31 July 2005

ER -

Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification

Abstract

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Conference

Keywords

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