VEHDYN Obstacle Module

机译：VEHDYN障碍物模块

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A vehicle's ability to negotiate complex linear features is a difficult problem tornanalyze in both model simulations and field testing. The VEHDYN model has been modified tornapproximate the performance of vehicles over-riding a variety of linear obstacles. Thesernmodifications include a functional description of the underside contour of a vehicle coupled withrnsmall underside-impact detection (UID) drag wheels placed all along this underside. During thernvehicle’s negotiation of a VEHDYN course, impact of any of these UID wheels with the terrainrnprofile produces a drag force that is included in the dynamics computation. Consequently, thernoverall required traction coefficient to maintain constant speed is computed and compared withrna user-supplied maximum available traction coefficient. A subsequent determination is thenrnmade concerning performance of the vehicle. These performance indicators are reported in thernform of required traction to over-ride obstacles of different soil types and strengths, impactrnforces between the obstacle and vehicle underside and the ability of the vehicle to continuernover-riding the obstacle once the underside has made contact with the terrain. This paper willrnpresent this new methodology used to create the underside detection elements and the soil-tirerntraction relationships

机译：车辆具有协商复杂线性特征的能力是在模型仿真和现场测试中都难以解决的问题。修改了VEHDYN模型，以使车辆的性能超越各种线性障碍物。这些修改包括对车辆底面轮廓的功能描述，以及沿底面放置的小型底面碰撞检测（UID）拖轮。在车辆协商VEHDYN路线时，这些UID车轮中的任何一个与地形轮廓的碰撞都会产生阻力，该阻力包含在动力学计算中。因此，计算出维持恒定速度所需的总体牵引系数并将其与用户提供的最大可用牵引系数进行比较。然后做出关于车辆性能的后续确定。这些性能指标以要求的牵引力形式报告，以越过不同土壤类型和强度的障碍物，障碍物与车辆底面之间的冲击力以及车辆一旦底面与地形接触后能够继续越过障碍物的能力。本文将介绍用于创建底面检测元素和土壤与土壤之间的牵引关系的新方法

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来源
《14th International ISTVS conference》|2002年|1-8|共8页
会议地点 Vicksburgo MS(US)
作者
Daniel Creighton; Randy Jones;
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作者单位

USAERDC, Vicksburg, MS;

USAERDC, Vicksburg, MS;

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会议组织
原文格式 PDF
正文语种 eng
中图分类车辆工程;
关键词
Vehicle models; vehicle performance; obstacles; traction; simulations; vehiclemediarninteractions.;

机译：车辆模型；车辆性能；障碍物；牵引力；模拟；车辆介质相互作用。;

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4. VEHDYN Obstacle Module [C] . Daniel Creighton, Randy Jones International Society for Terrain-Vehicle Systems Conference . 2002

机译：车辆障碍模块
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7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

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8. HEMTT Dynamic Sensitivity to Small Obstacles at Low Velocities. Report 2.Validation Study Using VEHDYN 3.0 [R] . Creighton, D. C., Jones, R. A. 1995

机译：HEmTT对低速小障碍物的动态灵敏度。报告2.使用VEHDYN 3.0进行验证研究

VEHDYN Obstacle Module

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