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首页> 外文会议>Americas Regional Conference of the International Society for Terrain Vehicle Systems >A METHOD FOR UNMANNED GROUND WHEELED VEHICLE MOBILITY ESTIMATION IN STOCHASTIC TERRAIN CONDITIONS
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A METHOD FOR UNMANNED GROUND WHEELED VEHICLE MOBILITY ESTIMATION IN STOCHASTIC TERRAIN CONDITIONS

机译：随机地形条件下无人面的地面车辆迁移率估计方法

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摘要

Methods to improve vehicle mobility of wheeled vehicles have been researched for more than 100 years. The United States Army began developing Unmanned Ground Vehicles (UGV) in the early 1900's; TARDEC leads this effort in research and development as the center for manned and unmanned ground vehicle systems. Concurrently, researchers developed and enhanced ground terrain vehicles. Although significant progress has been made for improving vehicle mobility for all ground vehicles throughout the past century, mobility has lacked a concise mutually agreed definition and analytical standardized criteria that can be used on-line (in real time) with respect to stochastic terrain conditions. UGVs require additional enhancement to include on-line mobility estimation since today's vehicles cannot predict nor anticipate terrain conditions on their own prior to the vehicle traversing those conditions. This paper analyzes methods that have been employed for defining and improving vehicle mobility of wheeled vehicles. The analysis is done from a view point of concurrent mobility methodologies' enhancement and applicability to wheeled UGVs. Based on this analysis, the paper formulates: (i) Components of agile vehicle dynamics and performance, energy consumption, and vehicle mission fulfilment that should be considered while defining the UGV mobility, (ii) Requirements to develop on-line (real time) mobility criteria in stochastic terrain conditions, and (iii) Terrain characterization and agile vehicle dynamics information that should be gathered to estimate UGV mobility in real time. This analysis is then used to derive a strategy which can be applied to wheeled vehicles, both manned and unmanned, to develop both off-line and on-line analytical criterion. The on-line mobility estimation enables the UGV to make control changes as the event occur (or before it) rather than after the event, causing the vehicle to then optimize its reaction and regain control. The derived strategy is then used to develop a comprehensive mobility definition and criterion and, thus, presents a method which can be applied to evaluate and enhance vehicle mobility in stochastic conditions of unmanned wheeled vehicles.
机译：方法来改善的轮式车辆已经被研究了超过100年的车辆移动。美国陆军开始于1900年代初期开发无人地面车辆（UGV）; TARDEC导致研发为中心，为载人和无人地面车辆系统这方面的努力。同时，研究人员开发和增强地面地形车。虽然显著已取得进展对于整个过去的一个世纪提高车辆的机动性所有地面车辆，流动性缺乏一个简明的双方同意的定义，并可以在网上相对于随机地形条件下使用（实时）分析标准化的标准。无人地面车辆需要额外的增强功能包括上线移动性估计，因为当今的车辆无法预测，也没有预料地形对自己之前的车辆穿越那些条件的条件。本文分析已采用定义和改进轮式车辆的车辆的移动性的方法。该分析是从同时移动方法的增强和适用于轮式UGV的观点来完成的。基于这种分析，本文公式化：敏捷车辆动态和性能，能耗和车辆任务完成应该在定义UGV流动性被认为是（我）成分，（二）要求开发上线（实时）在随机地形条件下流动性标准，以及（iii）地形特征，并且应该收集到实时估计UGV机动性敏捷车辆动态信息。然后，该分析用于推导出可应用于轮式车辆，包括载人和无人驾驶的策略，同时开发离线和在线分析标准。上线移动性估计使UGV作为事件发生做出控制改变（或之前），而不是在事件发生后，使车辆然后优化其反应和重新获得控制。然后，将得到的策略来制定一个全面的移动性定义和标准，因此，提出了可用于评估和增强车辆的移动性在无人驾驶轮式车辆的随机条件的方法。

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