Next-generation NATO reference mobility model complex terramechanics – Part 2: Requirements and prototype

Wasfy, Tamer M.; Jayakumar, Paramsothy

doi:10.1016/j.jterra.2021.02.007

Cited by 15 publications

(4 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…VCI 50 = 28.23 + 0.43MI − 92.67 MI + 3.67 (9) To express the interaction between the vehicle and the ground, Bakker measured the mechanical properties of foundation soil experimentally [27], then Bakker's derived terramechanic model (BDTM) was created. This model was applied to the NATO Reference Mobility Model (NRMM) to obtain the mobility prediction of military vehicles.…”

Section: Terramechanic Analysismentioning

confidence: 99%

A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

Chen

Niu

et al. 2022

Machines

View full text Add to dashboard Cite

In a complex off-road environment, due to the low bearing capacity of the soil and the uneven features of the terrain, generating a safe and effective global route for unmanned ground vehicles (UGVs) is critical for the success of their motion and mission. Most traditional global path planning methods simply take the shortest path length as the optimization objective, which makes it difficult to plan a feasible and safe route in complex off-road environments. To address this problem, this research proposes a global path planning method, which considers the influence of terrain factors and soil mechanics on UGV mobility. First, we established a high-resolution 3D terrain model with remote sensing elevation terrain data, land use and soil type distribution data, based on a geostatistical method. Second, we analyzed the vehicle mobility by the terramechanical method (i.e., vehicle cone index and Bakker’s theory), and then calculated the mobility cost based on a fuzzy inference method. Finally, based on the calculated mobility cost, the probabilistic roadmap method was used to establish the connected matrix and the multi-dimensional traffic cost evaluation matrix among the sampling nodes, and then an improved A* algorithm was proposed to generate the global route.

show abstract

Section: Terramechanic Analysismentioning

confidence: 99%

A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

Chen

Niu

et al. 2022

Machines

View full text Add to dashboard Cite

show abstract

“…𝑘 𝜔𝑟 (22) The overall coefficient of drivetrain kinematic non-concordance, given by the ratio 23) proves to have a very important influence over the DP magnitude of these kind of vehicles. Ideally, its value should be equal with 1.…”

Section: Vehicles With Rigid Connection Between Front and Rear Wheelsmentioning

confidence: 99%

“…The drawbar pull tests or simulations may be performed for a full automotive vehicle, an "element" (which means single wheel or axle) or even a combination of more automotive vehicles (road train). 1220 (2022) 012013 IOP Publishing doi:10.1088/1757-899X/1220/1/012013 4 DP tests or simulations can be extremely useful for different categories of ground vehicles, like agricultural or industrial (construction) tractors [6,11,19]; military vehicles [8,[20][21][22]; road tractortrailer combinations (road trains) [23], or even exploratory vehicles for the research of Moon and Mars [12].…”

Section: Introductionmentioning

confidence: 99%

Theoretical estimation of the drawbar pull for two-axle automotive vehicles

Preda

2022

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

The drawbar pull, defined as the amount of force available to an automotive vehicle at the drawbar for pulling or accelerating a load, represents an important characteristic used to define its traction performances. Because the experiments necessary to determine that force are relatively difficult and expensive to realize, a theoretical assessment of that characteristic may be extremely useful to identify the traction potential of the studied vehicle. This paper presents an algorithm able to approximate the realizable drawbar force of an automotive vehicle when it moves on different types of ground. For the computation, the ground characteristics may be adopted from the literature, while the necessary input data of the vehicle is normally given by the manufacturers or can be relatively easily obtained by measurements. The algorithm can be very useful in the primary stages of vehicle design. The paper also presents some influences of the constructive data and driving conditions on the drawbar force magnitude.

show abstract

“…Duplicating the direct shear test in DEM simulation is a reliable method to verify the effectiveness of DEM parameters. 37,46 The simulations were performed using EDEM software under the same experimental conditions. The device consists of upper box, lower box, and press plate (Figure 6).…”

Section: Interaction Between Wheel and Soilmentioning

confidence: 99%

3D DEM-FEM simulation of the flexible metal wheel–soil interaction in low gravity environments

Zhu

Zou

Shen

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

To investigate the driving performance of the flexible metal wheel of the manned lunar rover in a low gravity environment, we established a 3D discrete element method (DEM)-finite element method (FEM) coupling simulation system. The wheel was modeled by FEM and the soil was modeled by DEM. Then, the direct shear tests were performed to verify the validity of the DEM contact parameters. Finally, the driving performance of the flexible metal wheels with different treads under low gravity conditions was studied, and the velocity field of soil particles under the wheels was observed. The results show that the sinkage of the flexible wheel is almost independent of gravity, while the torque and drawbar pull are significantly affected by gravity. Moreover, by comparing the driving performance of the wheel equipped with treads (WT wheel) and without tread (NT wheel), it is found that the tread have great effect on sinkage, torque, and drawbar pull to wheel weight ratio due to the differences in wheel-soil contact area. Also, through the observation of the particle velocity field under the wheel, it is found that the gravity and load also have significant effects on the movement of soil particles. This study provided a reliable method for studies on the interaction between the flexible wheel and soil in low gravity environments.

show abstract

Next-generation NATO reference mobility model complex terramechanics – Part 2: Requirements and prototype

Cited by 15 publications

References 15 publications

A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

Theoretical estimation of the drawbar pull for two-axle automotive vehicles

3D DEM-FEM simulation of the flexible metal wheel–soil interaction in low gravity environments

Contact Info

Product

Resources

About