Dynamic simulation of actively-coordinated wheeled vehicle systems on uneven terrain

Author

Hung, Min Hsiung ; Orin, David E.

Author_Institution

Dept. of Electr. Eng., Chung Cheng Inst. of Technol., Taoyuan, Taiwan

Volume

1

fYear

2001

fDate

2001

Firstpage

779

Abstract

In this paper, a graphical dynamic simulator is developed that can simulate actively-coordinated wheeled vehicle systems on uneven faceted terrain. Based on the considerations of model fidelity and computational efficiency, a simple geometric modes for wheel-terrain contact is proposed. In addition, a computationally-efficient algorithm for contact detection is developed. We also devise a contact force model based on soil mechanics. Simulation results of a case, where the wheeled actively articulated vehicle traverses a concave edge between facets, are used to demonstrate the good performance of our contact model.

Keywords

computer graphics; control system CAD; digital simulation; dynamics; mobile robots; vehicles; actively-coordinated wheeled vehicle; computational efficiency; contact force model; geometric modes; graphical dynamic simulator; model fidelity; soil mechanics; wheel-terrain contact; Actuators; Computational modeling; Face detection; Motion control; Soil; Solid modeling; System performance; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932645

Filename

932645