Traversability prediction for unmanned ground vehicles based on identified soil parameters

Suksun Hutangkabodee, Yahya H. Zweiri, Lakmal D. Seneviratne, Kaspar Althoefer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


A novel technique for identifying soil parameters on-line while traversing with a tracked vehicle on unknown terrain is presented. This technique, based on the Newton Raphson method is used to identify unknown soil parameters. Comparing with the Least Square method, it shows that the Newton Raphson method is better in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. For heavy tracked vehicle, cohesion has negligible effect on the vehicle performance. These identified soil parameters are then employed for traversability prediction for a tracked vehicle travelling on unknown terrain.

Original languageBritish English
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
Number of pages6
StatePublished - 2005

Publication series

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


  • Interaction dynamics
  • Parameter identification
  • Tracked vehicles
  • Traversability


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