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Fused Dynamics of Unmanned Ground Vehicle Systems
ISSN: 1946-391X, e-ISSN: 1946-3928
Published September 30, 2014 by SAE International in United States
Citation: Vantsevich, V., Gray, J., and Murphy, D., "Fused Dynamics of Unmanned Ground Vehicle Systems," SAE Int. J. Commer. Veh. 7(2):406-413, 2014, https://doi.org/10.4271/2014-01-2322.
Through inverse dynamics-based modeling and computer simulations for a 6×6 Unmanned Ground Vehicle (UGV) - a 6×6 truck - in stochastic terrain conditions, this paper analytically presents a coupled impact of different driveline system configurations and a suspension design on vehicle dynamics, including vehicle mobility, and energy efficiency. A new approach in this research work involves an estimation of each axle contribution to the level of potential mobility loss/increase and/or energy consumption increase/ reduction.
As it is shown, the drive axles of the vehicle interfere with the vehicle's dynamics through the distribution of the wheels' normal reactions and wheel torques. The interference causes the independent system dynamics to become operationally coupled/fused and thus diminishes vehicle mobility and energy efficiency. The analysis is done by the use of new mobility indices and energy efficiency indices which are functionally coupled/fused. Four possible scenarios are considered to trade between mobility and energy efficiency improvements by redistributing power between the drive axles in severe/extreme terrain conditions, including poor friction coefficient conditions, and high longitudinal and lateral slopes. Potential design improvements to de-couple (de-fuse) dynamics of the two systems are also discussed.