Terrain Awareness Using a Tracked Skid-Steering Vehicle With Passive Independent Suspensions

Galati, Rocco; Reina, Giulio

doi:10.3389/frobt.2019.00046

Cited by 18 publications

(11 citation statements)

References 18 publications

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“…These results indicate that the effect of slip sinkage should be considered when assessing the tractive performance of off-road tracked vehicles and that tractive performance can be overestimated when compaction resistance is calculated considering only static sinkage. When excessive slip sinkage is expected with a large i, it is necessary to apply a proper method to suppress the effect of slip sinkage such as unconventional track suspension systems [35][36][37][38]. The larger n and l, the larger Rc/Rc0.…”

Section: Evaluation Of Compaction Resistance Considering Slip Sinkagementioning

confidence: 99%

Evaluation of the Slip Sinkage and its Effect on the Compaction Resistance of an Off-Road Tracked Vehicle

et al. 2020

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When an off-road tracked vehicle travels, shearing action and ground sinkage occur on the soil–track interface, severely affecting the tractive performance of the vehicle. Notably, ground sinkage, which is induced by the vehicle’s weight (static sinkage) and longitudinal forces in the direction of travel producing slip (slip sinkage), develops motion resistance, directly restricting the tracked vehicle’s performance. Thus, it is critical to consider both static sinkage and slip sinkage to assess the tractive performance of a tracked vehicle. In this research, model track experiments were conducted to investigate slip sinkage. The experimental results showed that the slip sinkage increased as the slip ratio increased, but the rate of increase decreased. The slip sinkage was found to increase as the density of the ground decreased and imposed vertical load increased. The experimental results were used to calculate normalized slip sinkage, and an empirical equation for slip sinkage in terms of slip ratio was developed. This equation will allow vehicle operators to predict the slip sinkage and associated motion resistance for given soil and vehicle conditions.

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Section: Evaluation Of Compaction Resistance Considering Slip Sinkagementioning

confidence: 99%

Evaluation of the Slip Sinkage and its Effect on the Compaction Resistance of an Off-Road Tracked Vehicle

et al. 2020

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“…In linear systems, it exists a direct linear relationship between input and output. A vehicle system defined by its transfer function takes into account the input representing the terrain irregularities and generates an output representing the vibration of the vehicle 29 . In this case, the frequency response function can be defined as the ratio of the output to input under steady-state conditions.…”

Section: Kinematics and Dynamics Modelingmentioning

confidence: 99%

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Galati

Mantriota

Reina

2022

Sci Rep

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The paper deals with the design and testing of a robot for industrial applications featuring omnidirectionality thanks to the use of mecanum wheels. While this architecture provides remarkable manoeuvrability in narrow or cluttered spaces, it has some drawbacks that limit its widespread deployment in practice, especially for heavy-duty and long-duration tasks. As an example, the variability in the mecanum wheel rolling radius leads to undesired dynamic ill-effects, such as slippage and vibrations that affect the accuracy of pose estimation and tracking control systems. Drawing on the modeling of the kinematic and dynamic behaviour of the robot, these effects have been tackled within an adaptive estimation framework that adjusts the robot control system based on the properties of the surface being traversed. The proposed approach has been validated in experimental tests using a physical prototype operating in real industrial settings.

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“…Thirdly, a solution to the joint vehicle state and parameter estimation problem using CKF is proposed by augmenting the state vector of the filter with the equivalent soil stiffness. Other approaches have attempted to estimate terrain properties by collecting various sets of features through the onboard sensor suite that are used to train a ground classifier that uses a machine learning algorithm including Support Vector Machine (SVM) (Ward and Iagnemma 2009;Reina et al 2017a), Bayesian network (Galati and Reina 2019), and Deep Learning (Gonzalez and Iagnemma 2018). Here, a model-based approach is used where a general vertical dynamic model is adopted.…”

Section: Related Researchmentioning

confidence: 99%

Terrain estimation via vehicle vibration measurement and cubature Kalman filtering

Reina

Leanza

Messina

2019

Journal of Vibration and Control

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The extent of vibrations experienced by a vehicle driving over natural terrain defines its ride quality. Generally, surface irregularities, ranging from single discontinuities to random variations of the elevation profile, act as a major source of excitation that induces vibrations in the vehicle body through the tire-soil interaction and suspension system. Therefore, the ride response of off-road-vehicles is tightly connected with the ground properties. The objective of this research is to develop a model-based observer that estimates automatically terrain parameters using available onboard sensors. Two acceleration signals, one coming from the vehicle body and one from the wheel suspension are fed into a dynamic vehicle model that takes into account tire/terrain interaction to estimate ground properties. To solve the resulting nonlinear simultaneous state and parameter estimation problem, the Cubature Kalman filter is used that is shown to outperform the standard Extended Kalman filter in terms of accuracy and stability. An extensive set of simulation tests is presented to assess the performance of the proposed estimator under various surface roughness and deformability conditions. Results show the potential of the proposed observer to estimate automatically terrain properties during operations that could be implemented onboard of a general family of intelligent vehicles, ranging from off-road high-speed passenger cars to lightweight and low-speed planetary rovers. Prepared using sagej.cls arXiv:2001.05165v1 [eess.SY] 15 Jan 2020

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Terrain Awareness Using a Tracked Skid-Steering Vehicle With Passive Independent Suspensions

Cited by 18 publications

References 18 publications

Evaluation of the Slip Sinkage and its Effect on the Compaction Resistance of an Off-Road Tracked Vehicle

Evaluation of the Slip Sinkage and its Effect on the Compaction Resistance of an Off-Road Tracked Vehicle

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Terrain estimation via vehicle vibration measurement and cubature Kalman filtering

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