Dynamic model of the robotic vehicle motion on a deformable irregular terrain

International Automobile Scientific Forum, Intelligent Transport System Technologies and Components

Volskaya, N.S.^1 ; Chichekin, I.V.^1

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

105005, Russia^1

关键词: Different terrains;    Irregular terrain;    Research results;    Road performance;    Robotic vehicles;    System approach;    Terrain systems;    Wheeled vehicles;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/534/1/012022/pdf
DOI  :  10.1088/1757-899X/534/1/012022

来源: IOP

【 摘 要 】

The paper presents a system approach to the estimation of the off-road performance of the wheeled vehicles operating on deformable terrains. A problem-solving approach to the development of the model for the wheeled vehicle-irregular deformable terrain system is presented. The model was used for the simulation of the vehicle motion on different terrains. The presented method for the calculation of the wheel sinkage (calculation of the resistance to the motion of a wheeled vehicle) is based on the Y.S. Ageykin model. The paper presents the analysis of the research results.