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首页> 外文学位 >Unmanned ground vehicle terrain/road mobility foundation and its algorithmic formalization for wheel power management to improve leader and follower capabilities.
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Unmanned ground vehicle terrain/road mobility foundation and its algorithmic formalization for wheel power management to improve leader and follower capabilities.

机译：无人地面车辆地形/道路机动性基金会及其用于车轮功率管理的算法形式化，以提高领导者和跟随者的能力。

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摘要

The implementation of the autonomy-enabled technologies to improve soldier safety and battlefield distribution for the Ground Distribution fleet, by using semi-autonomous leader and follower capabilities, has begun. The need for tactical and operational mobility and agility is a key element in this process. Their success significantly depends on mobility of the convoy vehicles in terrain and road conditions. Although, existing methods have successfully improved vehicle mobility, those methods have exhausted their potential. There is a need for a new technological paradigm that would lead to a breakthrough in vehicle and convoy mobility research and engineering.;Mobility strongly depends on the distribution of power between the drive wheels of multi-wheel vehicles. Non-efficient wheel power split can immobilize a convoy vehicle when tire gripping conditions change due to change of physical properties of local terrain when the convoy vehicles move in the same track as the previously driven vehicles. During curvilinear motion, mobility can be lost due to an increased tire side-slip causing side skid of a vehicle and potentially leading to rollover, all of which can result from inappropriate wheel power distribution. An immobilized vehicle leads to mobility loss of several or all vehicles in a convoy.;This goal of this dissertation is to propose a new technological paradigm that would significantly enhance leader/follower mobility capabilities, and develop fundamentals of online agile mobility estimation. These fundamentals would be based on each wheel's contribution to vehicle and convoy mobility, agile tire slippage dynamics, convoy mobility observation and control strategies in stochastic terrain conditions.;A mobility estimation methodology was developed to include each wheel contribution. Fundamentals of agile tire slippage dynamics were originated to enable on-line mobility estimation, and establish sensor-related parameters/signals between the stochastic tire-terrain interactions and wheel power distributions. These parameters enabled analytical fundamentals for the development of a new wheel rotational kinematics sensor that would enable agile tire slippage control.;The developed mobility estimation methodology, the fundamentals of agile tire slippage dynamics and the sensing of advanced capabilities, culminated in real-time terrain mobility observation and control strategies that were formalized into algorithms for enhancing unmanned ground vehicle convoy mobility.
机译：已经开始实施具有自主性的技术，以通过使用半自主的领导者和跟随者能力来改善地面分配舰队的士兵安全性和战场分配。战术和作战机动性和敏捷性的需求是此过程中的关键要素。它们的成功很大程度上取决于车队车辆在地形和道路条件下的机动性。尽管现有方法已成功改善了车辆的机动性，但这些方法已耗尽了其潜力。需要一种新的技术范式，以在车辆和车队的机动性研究和工程方面取得突破。机动性在很大程度上取决于多轮车辆驱动轮之间的动力分配。当轮胎抓地条件由于局部地形的物理性质的变化而导致车队抓地力条件改变时，当车队车辆在与先前驾驶的车辆相同的轨道上移动时，无效的车轮功率分配会使车队车辆无法固定。在曲线运动期间，由于增加的轮胎侧滑会导致车辆侧滑并可能导致侧翻，因此可能会丧失机动性，所有这些都可能归因于不适当的车轮功率分配。固定的车辆导致车队中的部分或全部车辆失去机动性。本论文的目的是提出一种新的技术范例，该范例将显着增强领导者/跟随者的机动能力，并发展在线敏捷机动性估计的基础。这些基本原理将基于在随机地形条件下每个车轮对车辆和车队机动性的贡献，敏捷轮胎滑移动力学，车队机动性观察和控制策略。开发了一种机动性估算方法，以包括每个车轮的贡献。敏捷轮胎打滑动力学的基本原理可用于进行在线迁移率估算，并在随机轮胎-地形相互作用与车轮功率分布之间建立与传感器相关的参数/信号。这些参数为开发新的车轮旋转运动学传感器提供了分析基础，该传感器将实现敏捷轮胎打滑控制。;已开发的迁移率估算方法，敏捷轮胎打滑动力学的基础知识和先进能力的感知，最终在实时地形中达到顶峰机动性观察和控制策略已正式化为用于增强无人地面车辆护卫舰机动性的算法。

著录项

  • 作者

    Gray, Jeremy Patrick.;

  • 作者单位

    The University of Alabama at Birmingham.;

  • 授予单位 The University of Alabama at Birmingham.;
  • 学科 Engineering Mechanical.;Engineering Automotive.;Engineering Electronics and Electrical.
  • 学位 Ph.D.
  • 年度 2015
  • 页码 309 p.
  • 总页数 309
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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