Published on February 5, 2014
12/20/2013 Stochastic Terrain Properties – Vehicle Interaction For Agile UGV Dynamics ISTVS 7th Americas Regional Conference, Tampa, Florida, USA November 4-7, 2013 Mostafa Salama & Vladimir V. Vantsevich Vehicle and Robotics Engineering Laboratory University of Alabama at Birmingham 1
12/20/2013 OUTLINE • Introduction • UGV Dynamic Model • Stochastic Circumferential Forces • Stochastic Rolling Resistance Forces • Interaction between Longitudinal and Lateral Forces • UGV Energy Efficiency • Conclusion and Future Work 2
12/20/2013 OBJECTIVE • Agility • Fast response to dynamical changes in severe environments In order to do that • Develop analytical fundamentals to model the interaction between stochastic terrain parameters and small UGV • Longitudinal and lateral forces at all four wheels for UGV while moving in a curvilinear motion • Modeling the spatial occurrence of soil parameters within a probabilistic framework (not the focus of this work) • Address the stochastic energy efficiency and stochastic slip power losses in the tire-terrain interaction of the UGV 3
12/20/2013 UGV DYNAMIC MODEL 4
12/20/2013 UGV DYNAMIC MODEL ; ; 5
12/20/2013 UGV TOTAL CIRCUMFERENTIAL FORCE 6
12/20/2013 NORMAL REACTIONS 7
12/20/2013 NORMAL REACTIONS 8
12/20/2013 STOCHASTIC CIRCUMFERENTIAL FORCES 9
12/20/2013 STOCHASTIC TERRAIN PROPERTIES Deterministic Soil Parameters [Wong] 0.999 1528.4 1.1 1.04 degrees 28 10 Stochastic Soil Parameters Mean STD Min Max 0.999 0.029 0.951 1.047 1528.4 44.79 1457.6 1601.2 1.1 0.032 1.045 1.154 1.04 0.03 0.960 1.115 28 0.01 0.464 0.511 10 0.001 9.512 10.497 10
12/20/2013 PNEUMATIC WHEEL KINEMATICS 11
12/20/2013 PNEUMATIC WHEEL KINEMATICS 12
12/20/2013 STOCHASTIC CIRCUMFERENTIAL FORCE • Using Monte Carlo technique to model the terrain parameters 13
12/20/2013 STOCHASTIC ROLLING RESISTANCE FORCES 14
12/20/2013 INTERACTION BETWEEN LONGITUDINAL AND LATERAL FORCES 15
12/20/2013 PARTIAL CORRECTION FACTORS 16
12/20/2013 PARTIAL CORRECTION FACTORS 17
12/20/2013 PARTIAL CORRECTION FACTORS 18
12/20/2013 UGV ENERGY EFFICIENCY 19
12/20/2013 UGV ENERGY EFFICIENCY 20
12/20/2013 CONCLUSION AND FUTURE WORK • Analytical study of the stochastic tire-terrain interaction that impacts the tire forces in 3D-space • UGV energy slip efficiency was analyzed • The stochastic tire-terrain interaction was analyzed based on Monte Carlo method and integrated with a UGV dynamics mathematical model • The next goal is to analyze agile vehicle dynamics of the UGV by utilizing the method presented in this paper 21
12/20/2013 THANK YOU Mostafa Salama Vehicle and Robotics Engineering Laboratory University of Alabama at Birmingham email@example.com 22
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