PHYSICS BASED SINGLE-WHEEL MODULE SLIPPAGE ASSESSMENT FOR AUTONOMOUS CONTROL DESIGN

In this paper, a conceptually new research direction of the tire slippage analysis is provided as a new technological paradigm for agile tire slippage control. Specifically, the friction coefficient-slippage dynamics is analyzed and its characteristic parameters are introduced. Next, the nonlinear relation between the wheel torque and the tire instantaneous rolling radius incorporating the longitudinal elasticity factor is analyzed. The relation is shown to be related to the tire slippage. Further, its importance is clarified by deriving its dynamics and specifically, the instruction is given how it can be utilized to control slippage. Finally, the indices are introduced to assess the mobility and agility of the wheel in order to achieve optimal response to severe terrain conditions. The indices comprise of the introduced friction coefficient-slippage characteristic parameters.

Citation: M. Ghasemi, V. Vantsevich, D. Gorsich, J. Goryca, A. Singh, L. Moradi, “Physics Based Single-Wheel Module Slippage Assessment for Autonomous Control Design”, In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.