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Velocity Selection for High-Speed UGVs in Rough Unknown Terrains Using Force Prediction

  • Graeme N. Wilson
  • Alejandro Ramirez-Serrano
  • Mahmoud Mustafa
  • Krispin A. Davies
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7507)

Abstract

Enabling high speed navigation of Unmanned Ground Vehicles (UGVs) in unknown rough terrain where limited or no information is available in advance requires the assessment of terrain in front of the UGV. Attempts have been made to predict the forces the terrain exerts on the UGV for the purpose of determining the maximum allowable velocity for a given terrain. However, current methods produce overly aggressive velocity profiles which could damage the UGV. This paper presents three novel safer methods of force prediction that produce effective velocity profiles. Two models, Instantaneous Elevation Change Model (IECM) and Sinusoidal Base Excitation Model: using Excitation Force (SBEM:EF), predict the forces exerted by the terrain on the vehicle at the ground contact point, while another method, Sinusoidal Base Excitation Model: using Transmitted Force (SBEM:TF), predicts the forces transmitted to the vehicle frame by the suspension.

Keywords

Unmanned Ground Vehicles High Speed Terrain Traversal Terrain Assessment 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Graeme N. Wilson
    • 1
  • Alejandro Ramirez-Serrano
    • 1
  • Mahmoud Mustafa
    • 1
  • Krispin A. Davies
    • 1
  1. 1.Department of Mechanical and Manufacturing EngineeringUniversity of CalgaryCalgaryCanada

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