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首页> 外文会议>European-African Regional Conference of the Internatinal Society for Terrain Vehicle Systems >UPDATE FROM A MULTI-YEAR DATA MINING EFFORT ON DROVE: DATABASE RECORDS FOR OFF-ROAD VEHICLE ENVIRONMENTS
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UPDATE FROM A MULTI-YEAR DATA MINING EFFORT ON DROVE: DATABASE RECORDS FOR OFF-ROAD VEHICLE ENVIRONMENTS

机译：从驱动的多年数据挖掘工作中更新：越野车辆环境的数据库记录

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This paper presents an update from a multi-year research program to create and expand the Database Records for Off-road Vehicle Environments (DROVE), one of the most comprehensive physical testing databases for off-road vehicles in existence. DROVE was created and has been expanded by a multi-year data mining effort through published and unpublished data assembled from several technical reports for laboratory and field tests spanning decades of testing with wheeled and tracked vehicles on different soil types. The first edition of the database (DROVE 1.0) included over eight thousand records from the existing archives of laboratory and field tests of wheels operating on loose sand and high plasticity clay. DROVE 1.0 included results from tests performed by wheels of different diameters, widths, heights, and inflation pressures, operating under varying loading conditions. DROVE 2.0 added 294 test results from powered and unpowered tracks on fine-grained soils, and release of DROVE 3.0 is pending and as envisioned would provide hundreds of digital files of mobility data to the terramechanics community. The DROVE structure is assembled to include various traction performance parameters such as drawbar pull, torque, traction, motion resistance, sinkage, and wheel slip. DROVE provides the mobility community with a resource to evaluate existing soil mobility algorithms and also, to develop improved algorithms to assess performance of various wheel designs. The authors compared DROVE to the algorithms currently defined in the Vehicle Terrain Interface (VTI) for mobility modeling of wheeled vehicles. Comparison of the predicted versus measured performance parameters are presented for different soil types. This study provides insight into what published data exists, what are the bounds on the data, and how the data matches algorithms predicting forces between wheel and/or track and the soil such as VTI.
机译：本文提出了一个多年研究计划的更新，以创建和扩展越野车辆环境（驱动）的数据库记录，是存在的越野车辆最全面的物理测试数据库之一。创建了开车，通过多年的数据挖掘努力通过从不同土壤类型上的轮式和跟踪车辆进行了数十年的实验室和现场测试的发布和未发表的数据，从几十年的测试和现场测试中组装了多年的数据挖掘。数据库的第一版（驱动1.0）包括来自现有的实验室和现场测试档案的八千次记录，以及在松散的沙子和高可塑性粘土上运行的车轮的现场测试。驱动1.0包括由不同直径，宽度，高度和通胀压力的车轮进行的测试的结果，在不同的负载条件下操作。 Drove 2.0添加了294个测试结果，从细粒度的土壤上的动力和无力轨道，并且释放驱动3.0待处理，并且设想将为机器人社区提供数百个数字文件的移动数据。组装开车结构以包括各种牵引性能参数，例如牵引杆拉动，扭矩，牵引，运动电阻，下沉和轮滑。开车提供了利用资源来评估现有土壤移动性算法的流动性社区，以及开发改进的算法，以评估各种车轮设计的性能。作者比较了车辆地形接口（VTI）目前在车辆地形界面（VTI）中定义的算法，用于轮式车辆的移动性建模。提出了预测与测量性能参数的比较，用于不同的土壤类型。本研究提供了解所公布的数据存在的洞察，数据上有哪些界限，以及数据如何与轮子和/或轨道之间的算法和诸如VTI之间的土壤之间的算法匹配。

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