Autonomous tracked vehicles effectiveness estimation

International Automobile Scientific Forum, Intelligent Transport System Technologies and Components

Naumov, V.N.^1 ; Mashkov, K.Y.^1 ; Byakov, K.E.^1

Bauman Moscow State Technical University, Baumanskaya 2th st. 5, Moscow

105005, Russia^1

关键词: Autonomous control systems;    Different speed;    Effectiveness estimation;    Mathematical simulations;    Resistance coefficients;    Steering radius;    Support surfaces;    Tracked mobile robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/534/1/012006/pdf
DOI  :  10.1088/1757-899X/534/1/012006

来源: IOP

【 摘 要 】

Effectiveness of application of autonomous tracked vehicles depends on many factors. For the manned car, the driver decides how to choose the optimal speed. The speed of autonomous vehicles, especially over highly rough terrain, is significantly lower and is caused by the operation of an autonomous control system. In tracked chassis, one of the agility components is the turnability, which characterizes the control ability of the vehicle under the given conditions. Controllability and ride comfort define how the power-weight ratio influence the average vehicle speed. At the same time, the behavior of an autonomous vehicle during rotation depends not only on the power-weight ratio, but also on the dimensions of the tracks support surfaces; pressure on the ground; steering radius provided by steering drive; traction properties, as well as on road conditions (path curve, traction and steering resistance coefficients). The report presents the analysis of the dependence of tracks slipping on the speed of the tracked autonomous vehicle chassis. The parameters that determine the state of the chassis of an autonomous tracked vehicle are listed. The results of mathematical simulation of the tracked mobile robot movement for different types of soils and with different speeds are presented.