Modeling track-terrain interaction for transient robotic vehicle maneuvers

Journal of Terramechanics

Volumn 45, Issue 3, 2008, Pages 65-78

  Solis, Javier M ^a   Longoria, Raul G ^a  

^a The University of Texas at Austin   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DIFFERENTIAL EQUATIONS; DYNAMICS; FLOW INTERACTIONS; KINEMATICS; ROBOTICS; VEHICLES;

DRY SANDS; EFFICIENT; ESTIMATE DYNAMICS; FORCE ELEMENTS; INTERACTION MODELS; KINEMATIC MODELS; LANE CHANGES; LATERAL FORCES; MODELING; MULTIBODY DYNAMICS MODELS; PARAMETER DATUM; ROBOTIC VEHICLES; SHEAR DISPLACEMENTS; SIMULATED RESULTS; STATE TRACKS; TEST VEHICLES; TRACKED VEHICLES;

ORDINARY DIFFERENTIAL EQUATIONS;

EID: 54849415224     PISSN: 00224898     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.jterra.2008.07.003     Document Type: Article

References (19)

1. McBride Bill, Longoria Raul, Krotkov Eric. Toward the measurement and prediction of the off-road mobility of small ground vehicles. In: Performance metrics for intelligent systems workshop (PerMIS'03), SwRI, NIST; 2003.
2. Longoria RG. Model-based evaluation of ground robotic tracked vehicle mobility and obstacle clearance, Technical report, Southwest Research Institute, San Antonio, Texas; 2006.
3. Wong J.Y. Theory of ground vehicles. 3rd ed. (2001), John Wiley & Sons, Inc, New York (NY)
4. McCullough M.K., and Haug E.J. Dynamics of high mobility track vehicles. J Mech Trans Autom Des 108 2 (1986) 189-196
5. Rubinstein D., and Hitron R. A detailed multi-body model for dynamic simulation of off-road tracked vehicles. J Terramech 41 (2004) 163-173
6. Muro T. Tractive and braking performance of a flexible tracked tractor moving up and down weak sloped terrain. J Terramech 30 6 (1993) 419-442
7. Haueisen B, Hudas G, Gorsich G, Ahlvin R, Jones R, Priddy J. Case study of the evaluation and verification of a packbot model in nrmm. SAE Paper No. 2005-01-0844; 2005.
8. Hetherington J.G. Tracked vehicle operations on sand - investigations at model scale. J Terramech 42 (2005) 65-70
9. Kitano M., and Jyozaki H. A theoretical analysis of steerability of tracked vehicles. J Terramech 13 (1976) 241-258
10. Kitano M., and Kuma M. An analysis of horizontal plane motion of tracked vehicles. J Terramech 14 (1977) 211-225
11. Kar M.K. Prediction of track forces in skid-steering of military tracked vehicles. J Terramech 24 1 (1987) 75-86
12. Wong J.Y., and Chiang C.F. A general theory for skid steering of tracked vehicles on firm ground. Proc Inst Mech Engineers D: J Automobile Eng 215 3 (2001) 343-355
13. Janosi ZJ. Obstacle performance of tracklayer vehicles. In: Siddall JN, Southwell PH, editors. Proceedings of the second conference of the ISTVS; 1966.
14. Pan W., Papelis Y., and He Y. A vehicle-terrain system modeling, simulation approach to mobility analysis of vehicles on soft terrain. Unmanned Ground Vehicle Technol VI, SPIE 5422 (2004) 520-531
15. Bekker M.G. Introduction to terrain-vehicle systems (1969), University of Michigan Press
16. Ferretti G., and Girelli R. Modelling and simulation of an agricultural tracked vehicle. J Terramech 36 3 (1999) 139-158
17. Wong J.Y. Data processing methodology in the characterization of the mechanical properties of terrain. J Terramech 17 1 (1980) 13-41
18. Bekker M.G. Off-the-road locomotion (1960), University of Michigan Press
19. Solis Javier M. Modeling and testing of a track-terrain interaction model for planar motion analysis of a robotic tracked vehicle. Master's thesis, The University of Texas at Austin, Department of Mechanical Engineering; 2005 [Advisor: Longoria RG].