Review of terramechanics models and their applicability to real-time applications

He, Rui; Sandu, Corina; Khan, Aamir K.; Guthrie, A. Glenn; Schalk, P.; Hamersma, Herman

doi:10.1016/j.jterra.2018.04.003

Cited by 74 publications

(39 citation statements)

References 70 publications

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“…In addition to the parameters and technical parameters above, quality of elevation data has a significant effect for smaller vehicles, such as UGV and mobile robots (wheeled, tracked, combined). The smaller the dimensions of a vehicle, the greater demands on the accuracy and density of altitude data, see also References [46][47][48][49][50]. If an altitude model with record density of 1 × 1 is sufficient for tested military vehicles (with the dimensions given in Table 1), an altitude model with a point density in decimeters and an accuracy in centimeters will be required for smaller vehicles.…”

Section: Discussionmentioning

confidence: 99%

“…Other publications which were not specifically used in this study, but bring interesting conclusions, focus on analysis of mobile robots' navigation, and autonomous vehicles' terrain traversability and three-dimensional (3D) traversability. Such studies include Iagnemma and Dubowsky [46], Halatci et al [47] and Reina et al [48], focused on planetary rovers' motion planning in rough terrain. Reina et al describe the possibilities of us-ing the trinocular stereovision for ground detection in agriculture in Reference [49].…”

Section: Introductionmentioning

confidence: 99%

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The Impact of the Accuracy of Terrain Surface Data on the Navigation of Off-Road Vehicles

Rada

Rybanský

Dohnal

2021

IJGI

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Current soil and surface data are not detailed enough to obtain accurate analyses of cross-country movement. The reason for the research presented in this article was the absence of a methodology for the synthetic assessment of the influence of the terrain surface on the movement of military vehicles. The study is based on analyses of data and information sources of soils and surface conditions primarily with the aim to determine their reliability, availability and precision when used for analyses of terrain traversability by off-road vehicles. The key method to achieve the set objective is the employment of tractive charts of military vehicles and utilized coefficients, the coefficient of rolling resistance and the coefficient of adhesion. Input data and information is tested with a comparative method of cross-country movement analyses. Conversion of soil and surface types to tractive chart coefficients is currently not optimal. For the most part, evaluation of soil type is very inaccurate with a wide range of possible values. Results of the analysis propose developing a methodology of evaluating surface and soils for vehicle traversability.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Impact of the Accuracy of Terrain Surface Data on the Navigation of Off-Road Vehicles

Rada

Rybanský

Dohnal

2021

IJGI

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“…An alternate, simple analytical slip‐sinkage model was also proposed in Lyasko () in the form

z = K_{s s} z_{0}

, where

z_{0}

is the sinkage associated with the original pressure sinkage equations and

K_{s s} = (1 + i_{d}) ∕ (1 - 0.5 i_{d})

is a slip‐dependent multiplier in the range of

1 < K_{s s} < 4

. For further possible models, comparison, and application notes the interested reader is referred to He et al (). It is also noted that in cohesive soils the sinkage may be independent of the slip (Hegedus, ).…”

Section: Dynamics Modelmentioning

confidence: 99%

Effect of gravity in wheel/terrain interaction models

Kovâcs

Ghotbi

González

et al. 2019

Journal of Field Robotics

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Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary exploration rovers on soft terrain introduces the additional need to consider the effect of nonterrestrial gravitational fields on the forces and torques developed at the wheel/terrain interface. Simply reducing the wheel load under Earth's gravity overestimates the traveled distance and predicts better performance than is actually observed in reduced‐gravity measurements. In this paper, we study the effect of gravity on wheel/terrain interaction. Experiments were conducted to assess the effect of reduced gravity on the velocity profile of the soil under the wheel, as well as on the traction force and sinkage developed by the wheel. It was shown that in the velocity field of the soil, the decay of the tangential velocity component becomes gradual with reducing gravity, and the decay of the normal to rim velocity is slower in Lunar gravity. It was also found that wheel flexibility can have an important effect on the dynamics as the contact patch and effective radius vary periodically. These results were then used together with traditional semiempirical terramechanics models to determine and validate the simulated drawbar pull values. The developed simulation model includes the effect of wheel flexibility, dynamic sinkage, and gravity.

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“…In the literature, a number of studies have been carried out regarding soft terrain modeling for real-time applications. He et al [22] aimed to standardize the experimental procedures that are used for the measurement of soil parameters and for the parameterization of terramechanics models. A comprehensive literature review was conducted to study the soil parameters, modeling procedures, experimental methods, and equipment that are used by the International Society of Terrain-Vehicle Systems community.…”

Section: Introductionmentioning

confidence: 99%

“…However, they focused on robotic systems that moved slowly, that is, with a rover speed of a few centimeters per second. Even though [22]- [24], [26] focused mainly on the wheel-terrain interaction models, the soft soil/terrain models developed by [23], [24], [26] are applicable for real-time applications, but are limited to tire-soil contacts only.…”

Section: Introductionmentioning

confidence: 99%

Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader

Jaiswal

Korkealaakso²,

Åman

et al. 2019

IEEE Access

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A real-time multibody model of an off-road vehicle can be used to analyze the dynamics of tasks, such as loading and/or transferring material from deformable ground. This analysis requires an accurate description of the mechanics, hydraulic actuators, and the terrain. The objective of this paper is to introduce a novel, real-time capable, deformable terrain/soil model that can interact with the mechanics of a multibody system model and the dynamics of a hydraulics model. To this end, a tractor is modeled by using a semi-recursive multibody formulation based on velocity transformation. The hydraulic actuation of the tractor's front-loader is modeled by using the lumped fluid theory. The tractor loads and transfers sand material from a deformable sand field (the ground), which is modeled by combining mesh-based and particle-based soil representation approaches for the real-time simulation of soil deformation. The work cycle of the tractor model follows a 3D maneuver that is used to load and transfer sand material. During the digging and dumping operations, the static sand field is converted into sand particles and vice versa respectively. For the presented work cycle, the real-time capability of the system is analyzed and determined. Furthermore, the dynamic actuator forces in the hydraulic cylinders are compared with the static actuator forces. The introduced real-time capable tractor simulation model can be utilized in product development and other product processes. INDEX TERMSDeformable soil/terrain model, hydraulic actuators, multibody system dynamics, real-time simulation, semi-recursive formulation, vehicle dynamics.

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Review of terramechanics models and their applicability to real-time applications

Cited by 74 publications

References 70 publications

The Impact of the Accuracy of Terrain Surface Data on the Navigation of Off-Road Vehicles

The Impact of the Accuracy of Terrain Surface Data on the Navigation of Off-Road Vehicles

Effect of gravity in wheel/terrain interaction models

Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader

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