Traversability prediction for unmanned ground vehicles based on identified soil parameters

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

doi:10.3182/20050703-6-cz-1902.02056

Traversability prediction for unmanned ground vehicles based on identified soil parameters

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

King's College London

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

3 Scopus citations

Abstract

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 language	British English
Title of host publication	Proceedings of the 16th IFAC World Congress, IFAC 2005
Pages	25-30
Number of pages	6
DOIs	https://doi.org/10.3182/20050703-6-cz-1902.02056
State	Published - 2005

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	16
ISSN (Print)	1474-6670

Keywords

Interaction dynamics
Parameter identification
Tracked vehicles
Traversability

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10.3182/20050703-6-cz-1902.02056

Cite this

@inproceedings{baba0cf820934be299f1272d723a4004,

title = "Traversability prediction for unmanned ground vehicles based on identified soil parameters",

abstract = "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.",

keywords = "Interaction dynamics, Parameter identification, Tracked vehicles, Traversability",

author = "Suksun Hutangkabodee and Zweiri, {Yahya H.} and Seneviratne, {Lakmal D.} and Kaspar 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 Defence (MoD), QinetiQ Ltd. and DSTL for funding this project.",

year = "2005",

doi = "10.3182/20050703-6-cz-1902.02056",

language = "British English",

isbn = "008045108X",

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

pages = "25--30",

booktitle = "Proceedings of the 16th IFAC World Congress, IFAC 2005",

}

Traversability prediction for unmanned ground vehicles based on identified soil parameters. / Hutangkabodee, Suksun; Zweiri, Yahya H.; Seneviratne, Lakmal D. et al.
Proceedings of the 16th IFAC World Congress, IFAC 2005. 2005. p. 25-30 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 16).

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

TY - GEN

T1 - Traversability prediction for unmanned ground vehicles based on identified soil parameters

AU - Hutangkabodee, Suksun

AU - Zweiri, Yahya H.

AU - Seneviratne, Lakmal D.

AU - Althoefer, Kaspar

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 Defence (MoD), QinetiQ Ltd. and DSTL for funding this project.

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - Interaction dynamics

KW - Parameter identification

KW - Tracked vehicles

KW - Traversability

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U2 - 10.3182/20050703-6-cz-1902.02056

DO - 10.3182/20050703-6-cz-1902.02056

M3 - Conference contribution

AN - SCOPUS:79960734507

SN - 008045108X

SN - 9780080451084

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 25

EP - 30

BT - Proceedings of the 16th IFAC World Congress, IFAC 2005

ER -

Traversability prediction for unmanned ground vehicles based on identified soil parameters

Abstract

Publication series

Keywords

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