Journal articles: 'Terrain vehicle'

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EL-KABBANY, AHMED, and A. RAMIREZ-SERRANO. "TERRAIN ROUGHNESS ASSESSMENT FOR HIGH SPEED UGV NAVIGATION IN UNKNOWN HETEROGENEOUS TERRAINS." International Journal of Information Acquisition 07, no. 02 (June 2010): 165–76. http://dx.doi.org/10.1142/s0219878910002142.

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This paper addresses the problem of determining the maximum allowable speed (V) of a vehicle traversing unknown off-road terrains. The calculated maximum speed achieves the fastest navigation without exceeding an allowable range of transmitted force (Fall) to the vehicle's frame. The proposed system enables the vehicle to transit between different terrains safely. The system's input are: (i) a 3D range image of the terrain and (ii) the vehicle's dimensions and characteristics (e.g., suspension parameters). First the terrain roughness is assessed; then the corresponding maximum allowable speed is calculated. In this paper a novel Roughness Index (RI) is used to represent the terrain roughness. This index is calculated based on the standard deviation of the terrain points' elevations (3D range image). A closed form expression of the maximum allowable vehicle speed is developed (as function of the vehicle's properties, Fall, RI, and probability of not exceeding Fall). The proposed system can be used as a driver assistant system to enhance the vehicle performance, increase its life time, and reduce the maintenance cost. In addition, it is a key module in Unmanned Ground Vehicles (UGVs) navigation systems; as it provides the navigation system with necessary information for path and speed planning.

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Wei, Wei, Xin Hui Liu, and Yan Li Chen. "Research on Stability of a 2 DOF Articulated Vehicle." Advanced Materials Research 201-203 (February 2011): 2709–16. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.2709.

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In many fields’ rough-terrain vehicles, e.g., mineral exploration vehicles, military applications vehicles, vehicles that can move on rough terrains are desired. The ability of obstacle-climbing was affected by stability of vehicle. The stability of vehicle is closely related to the body attitude, which composes with a number of bodies. For this reason, in this paper, a wheeled mobile vehicle with 2 DOF articulated frame (2DWAV), for example, the new concept of correlative stability is presented. The stability of 2DWAV was analyzed based on static and dynamic in this paper, when it was driving on rough terrain. Finally, the simulation and experiment on rough terrain are carried out.

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Rahman, A., A. Yahya, and A. K. M. Mohiuddin. "Mobility investigation of a designed and developed segmented rubber track vehicle on Sepang peat terrain in Malaysia." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 221, no. 7 (July 1, 2007): 789–800. http://dx.doi.org/10.1243/09544070jauto139.

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The traction mechanics of a vehicle was developed based on the track-terrain interaction mechanism. The vehicle was tested on three different terrains: terrain I, terrain II, and terrain III. The tractive effort of the vehicle increased 14 per cent when the moisture content of the terrain increased from 59.85 per cent to 81.06 per cent. A traction coefficient of 48 per cent of the vehicle's gross weight justified the vehicle's optimum design for the Sepang peat terrain. Less variability of the vehicle's tractive effort for straight motion in the range of 7.5 per cent to 13.2 per cent and for turning motion in the range of 9 per cent to 11.5 per cent between the predicted and measured tractive effort on the peat terrain III for different loading and operating speeds substantiate the validity of the developed mathematical model.

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Waldron, K. J. "Terrain Adaptive Vehicles." Journal of Mechanical Design 117, B (June 1, 1995): 107–12. http://dx.doi.org/10.1115/1.2836442.

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Research on walking vehicles and variable configuration wheeled vehicles is reviewed. The central feature of the vehicles discussed is terrain adaptive capability. The principal elements of the technical problems of coordination and control are discussed for each vehicle type. Examples of each vehicle type are discussed and an extensive reference list is provided. Although the article is primarily a review article, it contains a new discussion of the coordination problem of robotic mechanisms.

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Waldron, K. J. "Terrain Adaptive Vehicles." Journal of Vibration and Acoustics 117, B (June 1, 1995): 107–12. http://dx.doi.org/10.1115/1.2838649.

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Research on walking vehicles and variable configuration wheeled vehicles is reviewed. The central feature of the vehicles discussed is terrain adaptive capability. The principal elements of the technical problems of coordination and control are discussed for each vehicle type. Examples of each vehicle type are discussed and an extensive reference list is provided. Although the article is primarily a review article, it contains a new discussion of the coordination problem of robotic mechanisms.

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Yang, Fan, Guoyu Lin, and Weigong Zhang. "Terrain classification for terrain parameter estimation based on a dynamic testing system." Sensor Review 35, no. 4 (September 21, 2015): 329–39. http://dx.doi.org/10.1108/sr-01-2015-0003.

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Purpose – This paper aims to gain the real-time terrain parameters of the battlefield for the evaluation of military vehicle trafficability. In military missions, improvements in vehicle mobility have the potential to greatly increase the military operational capacity, in which vehicle trafficability plays a significant role. Design/methodology/approach – In this framework, an online terrain parameter estimation method based on the Gauss-Newton algorithm is proposed to estimate the primary terrain mechanical parameters. Good estimation results are indicated, unless the initial values involved are properly selected. Correspondingly, a method of terrain classification is then presented to contribute to the selection of the initial values. This method uses the wavelet packet transform technique for feature extraction and adopts the support vector machine algorithm for terrain classification. Once the terrain type is identified, advices can be given on the initial value selection referring to the empirical terrain parameters. Findings – On the basis of a dynamic testing system suitable for real military vehicles, the proposed algorithms are validated. High estimation accuracy of the terrain parameters is indicated on sandy loam, and good classification performance is demonstrated on four tested terrains. Originality/value – The presented algorithm outperforms the existing methods, which not only realizes the online terrain parameter estimation but also develops the estimation accuracy. Moreover, its effectiveness is confirmed by real vehicle tests in practice.

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Taghavifar, Hamid, and Subhash Rakheja. "A methodology to analyze the vehicle vibration response to deformable terrain stiffness and damping properties." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 4 (July 21, 2019): 1123–36. http://dx.doi.org/10.1177/0954407019863610.

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A dynamic soil–wheel interaction model that considers energy loss due to soil compaction during multiple trafficking can potentially yield an enhanced understanding of vibration responses of a vehicle traversing the deformable terrains. This article presents a practical methodology for modeling the vehicle ride vibration responses, while interacting with deformable terrain irregularities. The proposed formulations incorporate adaptive contact patch and tire deflection in addition to soil sinkage using the Bekker’s pressure–sinkage relationship. The effect of repeated passes of the driven as well as driving wheels on effective stiffness and damping of the soil is also incorporated in the proposed formulations considering a tire slip term by adoption of the Holm’s theory. An in-plane 4-degrees-of-freedom vehicle model is formulated considering a generic compliant tire coupled with the deformable soil model and MSC ADAMS multibody dynamic model is employed for the co-simulations and validation purpose. The coupled terrain–vehicle is analyzed to determine chassis vibration responses together with variations in the dynamic tire–terrain contact force in the time and frequency domains. The results suggested that the root mean square vertical and pitch chassis acceleration responses of the vehicle operating on a deformable terrain are lower than those obtained for the undeformable terrain. The ratio of the dynamic tire force to the static load, a measure of road holding of the vehicle, however, tends to be higher for the deformable terrain. Both the road holding and root mean square chassis acceleration responses, invariably, show a significant increase with increase in the vehicle forward speed. The proposed methodology may serve as an important tool for assessing the vibration exposure of operators and for deriving optimal suspension designs for vehicles operating on deformable terrains.

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Kale, Yogesh S., S. V. Rathkanthiwar, Bhagyashree Sharma, Janhavi Ghuguskar, Kireet Deshmukh, Rushikesh Kate, and Pranay Thakre. "Autonomous Terrain Vehicle." Indian Journal of Science and Technology 14, no. 25 (July 5, 2021): 2119–27. http://dx.doi.org/10.17485/ijst/v14i25.872.

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Aghazadeh, N., and H. Taghavifar. "Study on the Track Wheeled Vehicle Designing for Off-Road Operations on Snowy and Wet Terrains." Cercetari Agronomice in Moldova 48, no. 4 (December 1, 2015): 5–12. http://dx.doi.org/10.1515/cerce-2015-0047.

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Abstract Off-road vehicle trafficking is of interesting subjects for agricultural, mining and civil engineering purposes. The traversing over snowy and wet terrain is of greater importance regarding the sinkage and terrain properties. The motion resistance, traction, sinkage, and vehicle stability are functions of wheel-terrain interactions and particularly the contact patch characteristics. As adoption of wheeled vehicles on snowy terrain is difficult, tracked wheel vehicles are of greater interest and applicability. In this paper, the designing and analysis of tracked wheel system mounted on a light weight all-terrain vehicle (ATV) is addressed. The designing considerations are based on semi-empirical models (Bekker and Mohr-Coulomb criterion) and experimentally obtained data on the snow mechanical properties for the test region. Based on the analysis, it is observed that the greatest value of total deformation for the front and rear chasses are obtained at 0.00028485 and 0.00026229 m, respectively. The von Mises yield criterion addresses that the yielding of materials starts when the second deviatoric stress invariant gets to a critical value close to failure. Furthermore, the greatest values of von Mises stress for the front and rear tracked wheel chassis are equal to 64.60 and 62.48 MPa, respectively. The similarity is that the critical point is situated at the coincidence point between the inclined and longitudinally oriented rods (joint point). It is concluded that the developed vehicle could serve as a functional vehicle to perform on different off-road operational condition particularly wet terrains.

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Feng, Yu, and Qu Xian. "Development and application of testing system for vibration and ride comfort of all-terrain vehicle." Noise & Vibration Worldwide 50, no. 8 (August 17, 2019): 239–44. http://dx.doi.org/10.1177/0957456519869930.

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All-terrain vehicles have a remarkable capacity to handle a variety of irregular pavements, demonstrating its great potential in military domain as well as in the field of sports, entertainment, and so on. For all-terrain vehicles, the ride comfort is the core skill and one of the most important performance parameters. Little researches have been done into the ride comfort of all-terrain vehicle, particularly into the comprehensive ride comfort test and evaluation system. Combing the all-terrain vehicle vibration characteristics with the standards of ISO 2631, ISO 5349, and so on, a hardware testing system was developed for evaluating the all-terrain vehicle ride comfort. At the same time, a software analysis system was also built under the help of the hardware test system, which has been used to test and analyze many all-terrain vehicles. According to the test results and drivers’ subjective evaluation, the test system was proved to be reliable, convenient, and able to effectively evaluate the all-terrain vehicle ride comfort, providing the theoretical basis for improving the ride comfort of all-terrain vehicles.

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Sreenivasan, S. V., and P. Nanua. "Kinematic Geometry of Wheeled Vehicle Systems." Journal of Mechanical Design 121, no. 1 (March 1, 1999): 50–56. http://dx.doi.org/10.1115/1.2829429.

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This paper utilizes a kinematic-geometric approach to study the first-order motion characteristics of wheeled vehicles on even and uneven terrain. The results obtained from first-order studies are compared to those obtained from second order kinematic analyses, and special situations where the first-order analysis is inadequate are discussed. This approach is particularly suited for studying actively actuated vehicles since their designs typically do not include intentional passive compliances. It is shown that if a vehicle-terrain combination satisfies certain geometric conditions, for instance when a wheeled vehicle operates on even terrain or on a spherical surface, the system possesses a singularity—it possesses finite range mobility that is higher than the one obtained using Kutzbach criterion. On general uneven terrain, the same vehicles require undesirable ‘kinematic slipping’ at the wheel-terrain contacts to attain the mobility that it possesses on these special surfaces. The kinematic effects of varying the vehicle and/or terrain geometric parameters from their nominal values are discussed. The design enhancements that are required in existing off-road vehicles to avoid kinematic slipping are presented for a class of vehicles that include two-wheel axles in their designs.

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Nicolini, Andrea, Francesco Mocera, and Aurelio Somà. "Multibody simulation of a tracked vehicle with deformable ground contact model." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 233, no. 1 (June 26, 2018): 152–62. http://dx.doi.org/10.1177/1464419318784293.

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In this paper, the realisation of a multibody model of a tracked machine is described. A new compact modelling of the tracks–soil interaction is presented and soil mechanics laws for terrain response are implemented. Tracked vehicles can be used in different fields such as agriculture, military and construction. The conditions of the terrain on which they operate may vary a lot, in terms of soil composition, slope and roughness. For this reason, performance of tracked vehicles is difficult to predict without a great number of field tests. The model is developed in a multibody code that makes it possible to investigate its dynamic and kinematic behaviour in several operating conditions. A specific routine is implemented in the multibody model in order to simulate the behaviour of the tracked vehicle on deformable terrains. The main hypothesis of this paper is that the terrain deformation could be in a narrow zone affected by the vehicle. Thus, the deformation of the soil is kinematically correlated to the vehicle. Soil mechanics equations are implemented on each track portion and solved only for track links in contact with the soil. The latter is modelled as a rigid body and terrain stress or deformation are not directly computed, thus simplifying solution and terrain modelling despite obtaining coherent results in terms of vehicle traction force, slip and sinkage. Results are reported pointing out performance of the tracked machine on different ground conditions.

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Sreenivasan, S. V., and K. J. Waldron. "Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration With Extensions to Motion Planning on Uneven Terrain." Journal of Mechanical Design 118, no. 2 (June 1, 1996): 312–17. http://dx.doi.org/10.1115/1.2826886.

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This manuscript presents a displacement analysis of actively articulated wheeled vehicles on uneven terrain. These vehicles are distinct from traditional wheeled systems since they have the ability to actively adapt to variations in the terrain and they can actively influence the forces at the wheel-terrain contact locations. They also possess special mobility capabilities such as obstacle climbing and self-recovery from an over-turn failure. The problem of solving for the configuration of these vehicles on uneven terrain has been addressed in detail. The displacement analysis leads to multiple solutions due to the inherent nonlinearity in the position kinematic equations. Geometric reasoning has been used to identify the particular configuration that represents the “correct” vehicle geometry on the terrain. Applications of the displacement analysis algorithms to vehicle planning on uneven terrain have been discussed. An obstacle climbing maneuver of a three-module actively articulated wheeled vehicle has been described.

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Poudel, Aayush, Yashaswi Khandelwal, and Sayantan Das K. Venkadeshwaran Karthik N. "Design and Development of Multi-Terrain Vehicle." International Journal of Trend in Scientific Research and Development Volume-2, Issue-4 (June 30, 2018): 2443–47. http://dx.doi.org/10.31142/ijtsrd14495.

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Swischuk, Leonard E. "All-Terrain Vehicle Accident." Pediatric Emergency Care 24, no. 5 (May 2008): 319–20. http://dx.doi.org/10.1097/pec.0b013e318170b469.

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Altizer, Linda L. "All-Terrain Vehicle Safety." Orthopaedic Nursing 27, no. 4 (July 2008): 243–45. http://dx.doi.org/10.1097/01.nor.0000330307.91103.53.

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Satusky, Mary Jo. "All-Terrain Vehicle Safety." Orthopaedic Nursing 39, no. 2 (2020): 90–91. http://dx.doi.org/10.1097/nor.0000000000000638.

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Brandenburg, Mark A. "All-terrain vehicle injuries." Annals of Emergency Medicine 43, no. 4 (April 2004): 536–37. http://dx.doi.org/10.1016/j.annemergmed.2003.10.051.

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Larson, Amy C., Guleser K. Demir, and Richard M. Voyles. "Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction." Autonomous Robots 19, no. 1 (July 2005): 41–52. http://dx.doi.org/10.1007/s10514-005-0605-5.

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He, Miaolei, Changji Ren, Jilin He, Kang Wu, Yuming Zhao, Zhijie Wang, and Can Wu. "Design, analysis and experiment of an eight-wheel robotic vehicle with four-swing arms." Industrial Robot: the international journal of robotics research and application 46, no. 5 (August 19, 2019): 682–91. http://dx.doi.org/10.1108/ir-12-2018-0260.

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Purpose Excellent obstacle surmounting performance is essential for the robotic vehicles in uneven terrain. However, existing robotic vehicles depend on complex mechanisms or control algorithms to surmount an obstacle. Therefore, this paper aims to propose a new simple configuration of an all-terrain robotic vehicle with eight wheels including four-swing arms. Design/methodology/approach This vehicle is driven by distributed hydraulic motors which provide high mobility. It possesses the ability to change the posture by means of cooperation of the four-swing arms. This ensures that the vehicle can adapt to complex terrain. In this paper, the bionic mechanism, control design and steering method of the vehicle are introduced. Then, the kinematic model of the center of gravity is studied. Afterward, the obstacle surmounting performance based on a static model is analyzed. Finally, the simulation based on ADAMS and the prototype experiment is carried out. Findings The experiment results demonstrate that the robotic vehicle can surmount an obstacle 2.29 times the height of the wheel radius, which verifies the feasibility of this new configuration. Therefore, this vehicle has excellent uneven terrain adaptability. Originality/value This paper proposes a new configuration of an all-terrain robotic vehicle with four-swing arms. With simple mechanism and control algorithms, the vehicle has a high efficiency of surmounting an obstacle. It can surmount a vertical obstacle 2.29 times the height of the wheel radius.

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Ni, Tao, Wenhang Li, Hongyan Zhang, Haojie Yang, and Zhifei Kong. "Pose Prediction of Autonomous Full Tracked Vehicle Based on 3D Sensor." Sensors 19, no. 23 (November 22, 2019): 5120. http://dx.doi.org/10.3390/s19235120.

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Autonomous vehicles can obtain real-time road information using 3D sensors. With road information, vehicles avoid obstacles through real-time path planning to improve their safety and stability. However, most of the research on driverless vehicles have been carried out on urban even driveways, with little consideration of uneven terrain. For an autonomous full tracked vehicle (FTV), the uneven terrain has a great impact on the stability and safety. In this paper, we proposed a method to predict the pose of the FTV based on accurate road elevation information obtained by 3D sensors. If we could predict the pose of the FTV traveling on uneven terrain, we would not only control the active suspension system but also change the driving trajectory to improve the safety and stability. In the first, 3D laser scanners were used to get real-time cloud data points of the terrain for extracting the elevation information of the terrain. Inertial measurement units (IMUs) and GPS are essential to get accurate attitude angle and position information. Then, the dynamics model of the FTV was established to calculate the vehicle’s pose. Finally, the Kalman filter was used to improve the accuracy of the predicted pose. Compared to the traditional method of driverless vehicles, the proposed approach was more suitable for autonomous FTV. The real-world experimental result demonstrated the accuracy and effectiveness of our approach.

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Huskić, Goran, Sebastian Buck, Matthieu Herrb, Simon Lacroix, and Andreas Zell. "High-speed path following control of skid-steered vehicles." International Journal of Robotics Research 38, no. 9 (July 2019): 1124–48. http://dx.doi.org/10.1177/0278364919859634.

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We present a robust control scheme for skid-steered vehicles that enables high-speed path following on challenging terrains. First, a kinematic model with experimentally identified parameters is constructed to describe the terrain-dependent motion of skid-steered vehicles. Using Lyapunov theory, a nonlinear control law is defined, guaranteeing the convergence of the vehicle to the path. To allow smooth and accurate motion at higher speeds, an additional linear velocity control scheme is proposed, which takes actuator saturation, path following error, and reachable curvatures into account. The combined solution is experimentally evaluated and compared against two state-of-the-art algorithms, by using two different robots on several different terrain types, at different speeds. A Robotnik Summit XL robot is tested on three different terrain types and two different paths at speeds up to [Formula: see text] m/s. A Segway RMP 440 robot is tested on three different terrain types and two different path types at speeds up to [Formula: see text] m/s.

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Arlauskas, Yan, Yuri Molev, Valentina Obrezkova, and Valery Naumov. "Simulation of the rotary-screw vehicle motion on snow." MATEC Web of Conferences 245 (2018): 17003. http://dx.doi.org/10.1051/matecconf/201824517003.

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The article presents the determination of oscillation parameters of the rotor-screw vehicle during motion on rough terrain. The study presented the dynamics of off-road vehicle movement. The dependence of the vehicle vibration characteristics on the mover geometry and suspension parameters was found. The experiment with the vehicle was performed. Analysis of the research results allows to conclude that the use of the suspension increases speed of the rotary-screw vehicle by 1.5 - 2.5 times. The developed model and obtained results will be useful in design of all-terrain vehicles.

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Hutangkabodee, Suksun, Yahya Zweiri, Lakmal Seneviratne, and Kaspar Althoefer. "Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction." International Journal of Advanced Robotic Systems 5, no. 4 (November 1, 2008): 35. http://dx.doi.org/10.5772/6225.

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This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road wheeled vehicles. The proposed algorithm uses an approximated form of the wheel-terrain interaction model and the Generalized Newton Raphson method to identify terrain parameters in real-time. With few measurements of wheel slip, i, vehicle sinkage, z, and drawbar pull, DP, samples, the algorithm is capable of identifying all the soil parameters required to predict vehicle driving forces over an entire range of wheel slip. The algorithm is validated with experimental data from a wheel-terrain interaction test rig. The identified soil parameters are used to predict the drawbar pull with good accuracy. The technique presented in this paper can be applied to any vehicle with rigid wheels or deformable wheels with relatively high inflation pressure, to predict driving forces in unknown environments.

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Rutka, James T. "All-terrain vehicle–related injury." Journal of Neurosurgery: Pediatrics 105, no. 1 (July 2006): 1. http://dx.doi.org/10.3171/ped.2006.105.1.1.

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SHIMURA, Hiroshi, and Atsuo KAWAGUCHI. "Tracked Vehicle for Rough Terrain." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 1P2—C12. http://dx.doi.org/10.1299/jsmermd.2017.1p2-c12.

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McBride, Allison S., David M. Cline, Rebecca H. Neiberg, and Katherine D. Westmoreland. "Pediatric All-Terrain Vehicle Injuries." Pediatric Emergency Care 27, no. 2 (February 2011): 97–101. http://dx.doi.org/10.1097/pec.0b013e31820942f8.

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Blecker, Nathan, Peter Rhee, Daniel G. Judkins, Julie L. Wynne, Randall S. Friese, Narong Kulvatunyou, Rifat Latifi, and Terence O’Keeffe. "Pediatric All-Terrain Vehicle Trauma." Pediatric Emergency Care 28, no. 5 (May 2012): 443–47. http://dx.doi.org/10.1097/pec.0b013e3182531d20.

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Mattei, Tobias A. "Pediatric All-Terrain Vehicle Trauma." Pediatric Emergency Care 28, no. 11 (November 2012): 1255–56. http://dx.doi.org/10.1097/pec.0b013e3182723c9d.

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Hall, Aron J., Danae Bixler, James C. Helmkamp, James C. Kraner, and James A. Kaplan. "Fatal All-Terrain Vehicle Crashes." American Journal of Preventive Medicine 36, no. 4 (April 2009): 311–16. http://dx.doi.org/10.1016/j.amepre.2008.11.019.

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Bai, Chengchao, Jifeng Guo, Linli Guo, and Junlin Song. "Deep Multi-Layer Perception Based Terrain Classification for Planetary Exploration Rovers." Sensors 19, no. 14 (July 13, 2019): 3102. http://dx.doi.org/10.3390/s19143102.

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Accurate classification and identification of the detected terrain is the basis for the long-distance patrol mission of the planetary rover. But terrain measurement based on vision and radar is subject to conditions such as light changes and dust storms. In this paper, under the premise of not increasing the sensor load of the existing rover, a terrain classification and recognition method based on vibration is proposed. Firstly, the time-frequency domain transformation of vibration information is realized by fast Fourier transform (FFT), and the characteristic representation of vibration information is given. Secondly, a deep neural network based on multi-layer perception is designed to realize classification of different terrains. Finally, combined with the Jackal unmanned vehicle platform, the XQ unmanned vehicle platform, and the vibration sensor, the terrain classification comparison test based on five different terrains was completed. The results show that the proposed algorithm has higher classification accuracy, and different platforms and running speeds have certain influence on the terrain classification at the same time, which provides support for subsequent practical applications.

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Ickowzcy, Ewerton, Takeshi Aoki, and Shigeo Hirose. "Development of a New Type of Personal Vehicle for Rough-Terrain Applications." Journal of Robotics and Mechatronics 23, no. 1 (February 20, 2011): 116–25. http://dx.doi.org/10.20965/jrm.2011.p0116.

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This paper discusses the development of a new type of personal vehicle designed specially for rough-terrain applications. The selection of suitable shapes and mechanisms for such a vehicle is addressed; a threewheeled configuration which maintains the horizontal posture of the vehicle’s passenger in rough terrain is proposed, and different possibilities of implementation are investigated. Experiments with a full-scale prototype of the vehicle are presented.

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Udayanga, M. K. S. C., T. D. C. Pushpakumara, and Nalin Jayarathne. "Study of the Accuracy of Sri Lankan Drone Survey Technology for Land Survey on Different Terrain Conditions." International Journal of Advanced Remote Sensing and GIS 10, no. 1 (June 12, 2021): 3463–72. http://dx.doi.org/10.23953/cloud.ijarsg.500.

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With the development of the technology, Unmanned Aerial Vehicles (UAVs) are more prominently used in construction field for surveying. Because of low time consume and easy to get data at unreachable places also. At present, large scaling topographic maps are obtaining using unmanned aerial vehicle (UAV) photogrammetry method, therefore UAV photogrammetry has replacing traditional survey method like total station. But don’t know how much accuracy it has, with comparing traditional survey methods. The accuracy may be consisting on the terrain conditions. So, it is better to check which terrain conditions have more accurate and which terrains are in very low accuracy. And also, accuracy of results may be depending on the accuracy of the topography software. Level terrain, vegetation area, build-up area and slope area were obtained during the research. Selected the Kantale sugar factory area in Sri Lanka, to understand the different terrain conditions. The results showed that the UAV results are more accurate with level terrain conditions and accuracy is low with other terrain conditions. Keywords Drone survey; Topography; UAV; Total station; RTK

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Wong, Jo Y., Paramsothy Jayakumar, and Jon Preston-Thomas. "Evaluation of the computer simulation model NTVPM for assessing military tracked vehicle cross-country mobility." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 5 (April 23, 2018): 1194–213. http://dx.doi.org/10.1177/0954407018765504.

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In the United States and some other NATO (North Atlantic Treaty Organization) countries, the NATO Reference Mobility Model is currently used to evaluate military ground vehicle mobility. The module of the NATO Reference Mobility Model for predicting the cross-country performance of military vehicles is empirically based and was developed using test data collected decades ago. The NATO Reference Mobility Model has inherent limitations, such as the uncertainty whether its empirical relations can be extrapolated beyond the test conditions upon which they were derived or whether it can be used for evaluating new-generation military vehicles. This suggests that there is a need for the development of a physics-based model that takes into account the advancements in terramechanics and modelling/simulation techniques. This paper describes the results of a detailed evaluation of a physics-based model – the Nepean Tracked Vehicle Performance Model – for assessing military tracked vehicle cross-country performance. The performance of a notional tracked vehicle (an armoured personnel carrier) predicted by the latest version of the Nepean Tracked Vehicle Performance Model is compared with test data obtained on sandy terrain, muskeg and snow-covered terrain. The correlations between the predicted and measured performance are evaluated using the coefficient of correlation, coefficient of determination, root mean square deviation and coefficient of variation. The applications of the Nepean Tracked Vehicle Performance Model to predicting the maximum possible vehicle speed (speed-made-good) on a given terrain, the sensitivity of vehicle performance to variations in the values of terrain parameters and the mean maximum pressure are demonstrated. The results of this study indicate that the Nepean Tracked Vehicle Performance Model has potential to form the basis for the development of the next-generation cross-country performance assessment methodology for military tracked vehicles.

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Djuka, Andreja, Tomislav Porsinsky, and Dinko Vusic. "DTM models to enhance planning of timber harvesting." Bulletin of the Faculty of Forestry, suppl. (2015): 35–44. http://dx.doi.org/10.2298/gsf15s1035d.

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This paper studies the applicability of DTM with the resolution of 4 ? 4 m for the analysis of macro-topographic factors (terrain slope, aspect, terrain ruggedness index) and one part of micro-topographic factors (occasional and constant streams) as features important for vehicle mobility during timber skidding. The analysis of directions of timber extraction in relation to the spatial position of primary forest traffic infrastructure of the study area was conducted in order to determine from which forest areas timber will be extracted up or down the slope (moving of loaded vehicle). Determination of water bodies (streams) and the surrounding sensitive areas was carried out using GIS tool TauDEM. Unevenness of the terrain was determined based on the Terrain Ruggedness Index (TRI) which showed moderately to very rugged terrain on 60.1% of the research area where vehicle mobility could be difficult (if not impossible) i.e. the necessity of a secondary forest road network is clear. DTM analysis of study area regarding vehicle (skidder) mobility and possible planning of timber extraction indicated different availability and quality of data. Digital terrain models present a good basis for the analysis of key constraints for forestry vehicles mobility or terrain trafficability (slope and direction of timber extraction). Using DTM of higher resolution (e.g. LiDAR images), will increase the accuracy of the results and the quality of the analysis.

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Tang, Shouxing, Shihua Yuan, Xueyuan Li, and Junjie Zhou. "Dynamic modeling and experimental validation of skid-steered wheeled vehicles with low-pressure pneumatic tires on soft terrain." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 2-3 (May 13, 2019): 840–56. http://dx.doi.org/10.1177/0954407019847302.

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Wheeled skid-steered technology has an increasing interest in its use for off-road unmanned ground vehicles, because of its great mobility and compact mechanical structure. By integrating multibody dynamics model and semi-empirical tire-terrain model, this paper presents a dynamic modeling approach for skid-steered wheeled vehicles with low-pressure pneumatic tires on soft terrain to predict and investigate its steering performance. The forward dynamics equations are built by spatial vector algebra. The tire–terrain model estimates flexible deformation and sinkage of the tire, and calculates forces and torques exerted on the tire according to relative motions of tire–terrain contact. The combined longitudinal slip and lateral skid of tires, and the vertical coupled deformations of tires and terrain are also considered in tire-terrain model. This approach optimizes the solution procedure and improves the computing efficiency. The simulation results show that the proposed tire–terrain model can predict the effects of rigid and flexible operation modes of tires on mechanical properties of tires and steering performances of the vehicle. The proposed dynamic model is validated on a six-wheeled skid-steered vehicle. The comparisons between experimental results and simulations show that the proposed dynamic model provides a better accuracy of steering performance simulation for skid-steered vehicles.

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Wong, J. Y., and J. Preston-Thomas. "Investigation into the Effects of Suspension Characteristics and Design Parameters on the Performance of Tracked Vehicles using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Transport Engineering 202, no. 3 (July 1988): 143–61. http://dx.doi.org/10.1243/pime_proc_1988_202_169_02.

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This paper describes the results of an investigation into the effects of the characteristics of the suspension system, initial track tension, vehicle weight and location of the centre of gravity on the tractive performance of tracked vehicles over unprepared terrain. The investigation was carried out using a newly developed computer simulation model NTVPM-86. The results show that the suspension characteristics, initial track tension and vehicle weight have noticeable effects on the mobility of tracked vehicles over marginal terrain, while the location of the centre of gravity, within the normal range, has a less significant influence on the tractive performance. It is demonstrated that the simulation model NTVPM-86 can play a significant role in the optimization of tracked vehicle design or in the evaluation of vehicle candidates for a given mission and environment.

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Strawa, Natalia, Dmitry I. Ignatyev, Argyrios C. Zolotas, and Antonios Tsourdos. "On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics." Electronics 10, no. 2 (January 15, 2021): 187. http://dx.doi.org/10.3390/electronics10020187.

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Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence of model uncertainties significantly reduces a ground vehicle performance when the vehicle is traversing an unknown terrain or the vehicle inertial parameters vary due to a mission schedule or external disturbances. A comprehensive mathematical model of a skid steering tracked vehicle is presented in this paper and used to design a control law. Analysis of the controller under model uncertainties in inertial parameters and in the vehicle-terrain interaction revealed undesirable behavior, such as controller divergence and offset from the desired trajectory. A compound identification scheme utilizing an exponential forgetting recursive least square, generalized Newton–Raphson (NR), and Unscented Kalman Filter methods is proposed to estimate the model parameters, such as the vehicle mass and inertia, as well as parameters of the vehicle-terrain interaction, such as slip, resistance coefficients, cohesion, and shear deformation modulus on-line. The proposed identification scheme facilitates adaptive capability for the control system, improves tracking performance and contributes to an adaptive path and trajectory planning framework, which is essential for future autonomous ground vehicle missions.

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Reina, Giulio, Antonio Leanza, and Arcangelo Messina. "Terrain estimation via vehicle vibration measurement and cubature Kalman filtering." Journal of Vibration and Control 26, no. 11-12 (December 9, 2019): 885–98. http://dx.doi.org/10.1177/1077546319890011.

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The extent of vibrations experienced by a vehicle driving over natural terrain defines its ride quality. Generally, surface irregularities, ranging from single discontinuities to random variations of the elevation profile, act as a major source of excitation that induces vibrations in the vehicle body through the tire–soil interaction and suspension system. Therefore, the ride response of off-road vehicles is tightly connected with the ground properties. The objective of this research is to develop a model-based observer that estimates automatically terrain parameters using available onboard sensors. Two acceleration signals, one coming from the vehicle body and one from the wheel suspension, are fed into a dynamic vehicle model that takes into account tire/terrain interaction to estimate ground properties. To solve the resulting nonlinear simultaneous state and parameter estimation problem, the cubature Kalman filter is used, which is shown to outperform the standard extended Kalman filter in terms of accuracy and stability. An extensive set of simulation tests is presented to assess the performance of the proposed estimator under various surface roughness and deformability conditions. Results show the potential of the proposed observer to estimate automatically terrain properties during operations that could be implemented onboard of a general family of intelligent vehicles, ranging from off-road high-speed passenger cars to lightweight and low-speed planetary rovers.

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Dhir, A., and S. Sankar. "Dynamics of off-Road Tracked Vehicles Equipped with Trailing Arm Suspension." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 209, no. 3 (July 1995): 195–215. http://dx.doi.org/10.1243/pime_proc_1995_209_204_02.

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A two-dimensional computer simulation model is developed for dynamic analysis of high-mobility tracked vehicles fitted with a trailing arm suspension system. The simulation model is oriented as a design tool for detailed analysis of vehicle suspension dynamics and ride quality assessment. The Lagrangian model formulation of a tracked vehicle is derived by considering a rigid terrain of an arbitrary profile and constant forward vehicle speed. The model incorporates detailed representations of a vehicle suspension system and dynamic wheel-track-terrain interactions. The wheel forces are evaluated based on an adaptive footprint formulation of a wheel/track-terrain contact patch, and the track forces are modelled based on kinematic considerations. The computer model predictions are validated against field measurements, which were gathered from an extensive field testing of an in-service armoured personnel carrier. The comparison between measured and simulated dynamic responses exhibits a fairly close correlation.

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Zhang, Yu, Mianhao Qiu, Xixia Liu, Jun Li, Haijun Song, Yue Zhai, and Hongjuan Hu. "Research on Characteristics of Tracked Vehicle Steering on Slope." Mathematical Problems in Engineering 2021 (January 31, 2021): 1–18. http://dx.doi.org/10.1155/2021/3592902.

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A special design is needed for an unmanned tracked vehicle (UTV) to meet the requirements of off-road environments and complex tasks. A loose surface is the main terrain for tracked vehicles in off-road driving. Slope steering is inevitable while driving in such conditions; hence, its performance is a major concern for tracked vehicles on loose terrain. This study investigates the slope steering performance of a tracked vehicle. An improved dynamic steering model is proposed when considering the shear stress-shear displacement relation of soil at the track-ground interface. The influence of ground characteristics on the slope steering performance of a tracked vehicle is illustrated. The track slip rate is adopted as an index to evaluate the influence of typical vehicle structure parameters on the slope steering performance of a tracked vehicle. This study provides technical support for the design and optimization of UTV.

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Negi, Ripudaman Singh, and Ashish Kumar. "Designing of All Terrain Vehicle: BAJA." International Journal of Smart Home 11, no. 9 (April 30, 2017): 27–38. http://dx.doi.org/10.21742/ijsh.2017.11.09.03.

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Rattan, Rishi, D’Andrea K. Joseph, Christopher J. Dente, Eric N. Klein, Mary K. Kimbrough, Jonathan Nguyen, Jon D. Simmons, Terence O’Keeffe, and Marie Crandall. "Prevention of all-terrain vehicle injuries." Journal of Trauma and Acute Care Surgery 84, no. 6 (June 2018): 1017–26. http://dx.doi.org/10.1097/ta.0000000000001828.

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MARGOLIS, JOHN L. "All-terrain Vehicle Accidents in Maine." Journal of Trauma: Injury, Infection, and Critical Care 28, no. 3 (March 1988): 395–99. http://dx.doi.org/10.1097/00005373-198803000-00017.

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Stiles, P. J., Stephen D. Helmer, Rachel M. Drake, and James M. Haan. "All-terrain Vehicle Accidents in Children." American Surgeon 81, no. 1 (January 2015): 103–5. http://dx.doi.org/10.1177/000313481508100139.

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Dawkins, Jeremy J., David M. Bevly, and Robert L. Jackson. "Fractal terrain generation for vehicle simulation." International Journal of Vehicle Autonomous Systems 10, no. 1/2 (2012): 3. http://dx.doi.org/10.1504/ijvas.2012.047693.

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Kirkpatrick, Richard, William Puffinbarger, and J. Andy Sullivan. "All-Terrain Vehicle Injuries in Children." Journal of Pediatric Orthopaedics 27, no. 7 (October 2007): 725–28. http://dx.doi.org/10.1097/bpo.0b013e3181558856.

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Feng, Yu, and Xie Jun. "Modal analysis and improvement of the frame for all-terrain vehicle." Noise & Vibration Worldwide 49, no. 11 (September 24, 2018): 340–44. http://dx.doi.org/10.1177/0957456518801146.

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Frame is the bearing skeleton of the all-terrain vehicle, and its modal characteristics have a direct influence on the vibration and riding comfort of the entire vehicle. This article intends to investigate a certain domestic all-terrain vehicle whose frame is lengthened on the basis of benchmark vehicle, but this alteration leads to worse modal characteristics. Analytical method and experimental research are adopted for investigating the modal characteristics of this all-terrain vehicle frame. The response of the frame to different terrain roughness and various engine excitations is also discussed with the concluded results of modal analysis. It is found that these two factors are both likely to cause frame resonance. On the basis of the vibration pattern diagrams plotted, three improvement solutions are proposed, including adding transverse supporting beams, increasing the wall thickness of the longitudinal beam, and expanding the thickness of the rear vertical supporting beams. The modal characteristics of these three improvement schemes are also presented with analytical methods, confirming that the measures of adding transverse supporting beams and increasing the wall thickness of the longitudinal beam are feasible. Finally, the modal characteristics of the frame and the vibration of the entire vehicles are obviously improved.

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Xu, Cong Qi, Tian Mei Li, Gui Zhi Jia, and Rui Lin Gao. "Ferrying Performance Analysis of a New Type All-Terrain Tracked Water Carrier." Applied Mechanics and Materials 397-400 (September 2013): 1593–97. http://dx.doi.org/10.4028/www.scientific.net/amm.397-400.1593.

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A new type all-terrain tracked water carrier is customized for water transportation with complicated terrains such as marsh, lake or dessert etc. The vehicle is designed based on combination of all-terrain tracked chassis and water storage tank. The tracked chassis provides the ferrying possibility, while tank structure and the thickness of heat-insulating layer is the key for successful ferrying. To further research the ferrying characteristics, the floatability and initial stability are analyzed. Then to optimize design of the vehicle, mathematic model of buoyancy center, reserve buoyancy and initial stability is established. At last, the field ferrying test is done. The results show the vehicle can ferry successfully in watered areas with a speed of 5.19km/h when fully loaded.

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Jagirdar, V. V., and M. W. Trikande. "Terrain Accessibility Prediction for a New Multi axle Armoured Wheeled Vehicle." Defence Science Journal 69, no. 2 (March 6, 2019): 195–200. http://dx.doi.org/10.14429/dsj.69.12076.

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Better terrain accessibility of military vehicle makes it possible to project force at desired points in a theatre of operation. The factors responsible for terrain accessibility are slope, obstacles and soil. Torque requirement for meeting vehicle speed and gradient requirement is understood and can be analytically arrived at. It can be met by appropriate choice of engine and transmission using. There is dearth of information as well as a common metric in quantification of terrain accessibility especially soft soil trafficability. Approach adopted in this study is that of characterisation of vehicle in terms of mobility characteristic and mobility limit parameters and comparing them with vehicle in-service worldwide. Simple empirical relation has been preferred over complex analytical approach for mobility prediction and gradient climbing capability in sand has been predicted and compared with other vehicles. parametric study for tyre sizes vis-a-vis mobility parameters have been obtained and results have been presented for chosen vehicle configuration. Second part of this study is obstacle crossing capability study for standard set of obstacles. Vehicle model has been built in multi-body environment and parameters of significance viz., wheel displacement to verify correctness of model and acceleration at CG for ride comfort and ground reactions for evaluation of dynamic loads on axles have been obtained. Vehicle drivetrain configuration to achieve desired terrain accessibility in terms of soft-soil trafficability and obstacle crossing has been demonstrated.

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Journal articles on the topic 'Terrain vehicle'

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