Tractive force prediction for unmanned ground vehicles in rough terrain

Kaspar Althoefer; Lakmal Seneviratne; Said Al-Milli; Savan Chhaniyara; Xiaojing Song

doi:10.3182/20101005-4-RO-2018.00027

Tractive force prediction for unmanned ground vehicles in rough terrain

Kaspar Althoefer, Lakmal Seneviratne, Said Al-Milli, Savan Chhaniyara, Xiaojing Song

Mechanical & Nuclear Engineering

King's College London

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

1 Scopus citations

Abstract

Unmanned ground vehicles traversing rough terrain can be applied in a wide range of industries, such as agriculture, defence, mining, space exploration and construction. The interaction dynamics between the vehicle and the terrain play a crucial role in determining the mobility characteristics of the vehicle. The two critical parameters that influence the interaction dynamics are the wheel/track slip and the unknown soil parameters. A method for estimating vehicle slip parameters based on an optical flow algorithm and a sliding mode observer is presented. A tractive force prediction algorithm based on the soil and slip information is developed to predict the traversability of the vehicle. The proposed algorithms are tested and evaluated using test rigs and mobile robots, and the test results are demonstrated in the paper.

Original language	British English
Title of host publication	2nd IFAC Symposium on Telematics Applications, TA 2010
Pages	64-69
Number of pages	6
DOIs	https://doi.org/10.3182/20101005-4-RO-2018.00027
State	Published - 2010
Event	2nd IFAC Symposium on Telematics Applications, TA 2010 - Timisoara, Romania Duration: 5 Oct 2010 → 8 Oct 2010

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)	1474-6670

Conference

Conference	2nd IFAC Symposium on Telematics Applications, TA 2010
Country/Territory	Romania
City	Timisoara
Period	5/10/10 → 8/10/10

Access to Document

10.3182/20101005-4-RO-2018.00027

Cite this

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title = "Tractive force prediction for unmanned ground vehicles in rough terrain",

abstract = "Unmanned ground vehicles traversing rough terrain can be applied in a wide range of industries, such as agriculture, defence, mining, space exploration and construction. The interaction dynamics between the vehicle and the terrain play a crucial role in determining the mobility characteristics of the vehicle. The two critical parameters that influence the interaction dynamics are the wheel/track slip and the unknown soil parameters. A method for estimating vehicle slip parameters based on an optical flow algorithm and a sliding mode observer is presented. A tractive force prediction algorithm based on the soil and slip information is developed to predict the traversability of the vehicle. The proposed algorithms are tested and evaluated using test rigs and mobile robots, and the test results are demonstrated in the paper.",

author = "Kaspar Althoefer and Lakmal Seneviratne and Said Al-Milli and Savan Chhaniyara and Xiaojing Song",

year = "2010",

doi = "10.3182/20101005-4-RO-2018.00027",

language = "British English",

isbn = "9783902661845",

series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

pages = "64--69",

booktitle = "2nd IFAC Symposium on Telematics Applications, TA 2010",

note = "2nd IFAC Symposium on Telematics Applications, TA 2010 ; Conference date: 05-10-2010 Through 08-10-2010",

}

Althoefer, K, Seneviratne, L, Al-Milli, S, Chhaniyara, S & Song, X 2010, Tractive force prediction for unmanned ground vehicles in rough terrain. in 2nd IFAC Symposium on Telematics Applications, TA 2010. IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 64-69, 2nd IFAC Symposium on Telematics Applications, TA 2010, Timisoara, Romania, 5/10/10. https://doi.org/10.3182/20101005-4-RO-2018.00027

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T1 - Tractive force prediction for unmanned ground vehicles in rough terrain

AU - Althoefer, Kaspar

AU - Seneviratne, Lakmal

AU - Al-Milli, Said

AU - Chhaniyara, Savan

AU - Song, Xiaojing

PY - 2010

Y1 - 2010

N2 - Unmanned ground vehicles traversing rough terrain can be applied in a wide range of industries, such as agriculture, defence, mining, space exploration and construction. The interaction dynamics between the vehicle and the terrain play a crucial role in determining the mobility characteristics of the vehicle. The two critical parameters that influence the interaction dynamics are the wheel/track slip and the unknown soil parameters. A method for estimating vehicle slip parameters based on an optical flow algorithm and a sliding mode observer is presented. A tractive force prediction algorithm based on the soil and slip information is developed to predict the traversability of the vehicle. The proposed algorithms are tested and evaluated using test rigs and mobile robots, and the test results are demonstrated in the paper.

AB - Unmanned ground vehicles traversing rough terrain can be applied in a wide range of industries, such as agriculture, defence, mining, space exploration and construction. The interaction dynamics between the vehicle and the terrain play a crucial role in determining the mobility characteristics of the vehicle. The two critical parameters that influence the interaction dynamics are the wheel/track slip and the unknown soil parameters. A method for estimating vehicle slip parameters based on an optical flow algorithm and a sliding mode observer is presented. A tractive force prediction algorithm based on the soil and slip information is developed to predict the traversability of the vehicle. The proposed algorithms are tested and evaluated using test rigs and mobile robots, and the test results are demonstrated in the paper.

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M3 - Conference contribution

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SN - 9783902661845

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

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BT - 2nd IFAC Symposium on Telematics Applications, TA 2010

T2 - 2nd IFAC Symposium on Telematics Applications, TA 2010

Y2 - 5 October 2010 through 8 October 2010

ER -

Tractive force prediction for unmanned ground vehicles in rough terrain

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