Vladimir V. Vantsevich | Worcester Polytechnic Institute, Massachusetts | ISTVS Terrabite
Channel: ISTVS
Date: 10/07/2023

Autonomous Terrain-Mobility Performance Optimization: Fundamentals for Unmanned Ground Vehicles

Link to PDF slides: 
https://istvs.notion.site/ISTVS-Digital-Event-Series-c75f940372d049f58de709e970984c36

Assessment and control of autonomous mobility performance of unmanned ground vehicles (UGVs) should be based on a set of technical parameters that result directly from the interactive dynamics of wheels and terrain and should be measurable and controllable in real-time.

​It is important that the combination of those parameters should characterize the UGV technical productivity, and, thus, enable to assess and control UGV autonomous mobility performance. If such requirements are satisfied, the mobility optimization can facilitate autonomous, real-time control design and assessment of UGV mobility performance.

​The proposed wheel mobility performance index and the vehicle mobility performance (VMP) index mathematically relate the wheel circumferential forces and velocity characteristics to the theoretical maximum performance.

​The VMP-optimization is formulated as an examination for the optimal tire slippages. Essentially, their combination characterizes the best set of the wheel circumferential forces and the vehicle actual velocity for the maximum mobility performance.

​Computational results of mobility performance optimization for a 4x4 UGV simulated on homogeneous terrains and split terrains on flat surface and on slopes, with and without drawbar pull are discussed with application to a virtual driveline system that serves for fully electric vehicles with in-wheel motors. Some fundamentals are introduced for parameter estimation and model-less control.


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