Stochastic Terrain Properties - Vehicle Interaction For Agile UGV Dynamics

33 %
67 %
Information about Stochastic Terrain Properties - Vehicle Interaction For Agile UGV Dynamics
Technology

Published on February 5, 2014

Author: ISTVS

Source: slideshare.net

Description

Mostafa Salama & Vladimir V. Vantsevich, Vehicle and Robotics Engineering Laboratory, University of Alabama at Birmingham. Paper 80455_0

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 msalama@uab.edu 22

Add a comment

Related presentations

Presentación que realice en el Evento Nacional de Gobierno Abierto, realizado los ...

In this presentation we will describe our experience developing with a highly dyna...

Presentation to the LITA Forum 7th November 2014 Albuquerque, NM

Un recorrido por los cambios que nos generará el wearabletech en el futuro

Um paralelo entre as novidades & mercado em Wearable Computing e Tecnologias Assis...

Microsoft finally joins the smartwatch and fitness tracker game by introducing the...

Related pages

Stochastic Terrain Properties - Vehicle Interaction For ...

Stochastic Terrain Properties - Vehicle Interaction For ... vehicle dynamics preview ... UGV Unmanned Ground Vehicle armed with ...
Read more

Stochastic Terrain Properties – Vehicle Interaction For ...

Mostafa Salama & Vladimir V. Vantsevich, Vehicle and Robotics Engineering Laboratory, University of Alabama at Birmingham. Presented at the 7th Americas ...
Read more

Mostafa Salama, Ph.D. | LinkedIn

Stochastic Terrain Properties-Vehicle Interaction for Agile UGV Dynamics ... wheel efficiencies for stochastic terrain properties for the design and ...
Read more

Stochastic Tire-Terrain Interaction for Unmanned Ground ...

... Vehicle (UGV) on rough terrain is not an easy task due to complex phenomena such as stochastic terrain properties, ... interaction between stochastic ...
Read more

vehicle interaction - YouTube

Stochastic Terrain Properties - Vehicle Interaction For Agile UGV Dynamics ... Tyre-ground interaction of all-terrain vehicle with EDEM ...
Read more

Advanced Autonomous Vehicle Design for Severe ... - IOS Press

... unmanned ground vehicle (UGV) dynamics is still ... ground vehicle dynamics, terrain ... interaction for agile vehicle dynamics ...
Read more

IOS Press Ebooks - Advanced Autonomous Vehicle Design for ...

... ‘Advanced Autonomous Vehicle Design for ... interaction for agile vehicle dynamics ... stochastic terrain characteristics and agile ...
Read more

Mostafa Salama - Publications

... phenomena such as stochastic terrain properties. The stochastic terrain mathematical model was developed ... Vehicle Interaction for Agile UGV Dynamics.
Read more

Ugv | LinkedIn

Although the terrain may not be an obstacle to the UGV itself, ... UGV “vehicles could ... Stochastic Terrain Properties - Vehicle Interaction For Agile ...
Read more