stochastic terrain properties - vehicle interaction for agile ugv dynamics
DESCRIPTION
Mostafa Salama & Vladimir V. Vantsevich, Vehicle and Robotics Engineering Laboratory, University of Alabama at Birmingham. Paper 80455_0TRANSCRIPT
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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
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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
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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
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UGV DYNAMIC MODEL
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UGV DYNAMIC MODEL
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UGV TOTAL CIRCUMFERENTIAL FORCE
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NORMAL REACTIONS
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NORMAL REACTIONS
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STOCHASTIC CIRCUMFERENTIAL FORCES
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STOCHASTIC TERRAIN PROPERTIES
- degrees
0.999 1528.4 1.1 1.04 28 10
Mean 0.999 1528.4 1.1 1.04 28 10
STD 0.029 44.79 0.032 0.03 0.01 0.001
Min 0.951 1457.6 1.045 0.960 0.464 9.512
Max 1.047 1601.2 1.154 1.115 0.511 10.497
Deterministic Soil Parameters [Wong]
Stochastic Soil Parameters
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PNEUMATIC WHEEL KINEMATICS
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PNEUMATIC WHEEL KINEMATICS
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STOCHASTIC CIRCUMFERENTIAL FORCE
• Using Monte Carlo technique to model the terrain parameters
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STOCHASTIC ROLLING RESISTANCE FORCES
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INTERACTION BETWEEN LONGITUDINAL AND LATERAL FORCES
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PARTIAL CORRECTION FACTORS
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PARTIAL CORRECTION FACTORS
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PARTIAL CORRECTION FACTORS
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UGV ENERGY EFFICIENCY
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UGV ENERGY EFFICIENCY
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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
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THANK YOU
Mostafa Salama
Vehicle and Robotics Engineering Laboratory
University of Alabama at Birmingham