Comparison of simulation models NRMM and NTVPM for assessing military tracked vehicle cross-country performance

Wong, J.Y.; Jayakumar, Paramsothy; Toma, Elton

doi:10.1016/j.jterra.2018.10.002

Cited by 20 publications

(4 citation statements)

References 13 publications

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“…The NRMM was originally used to facilitate a comparison between vehicle design candidates by assessing the mobility of existing vehicles under specific terrain scenarios but has subsequently and most recently found expanded use in support of complex decision analyses associated with vehicle acquisition and operational planning support. A study [15] verified the usability of NRMM in new, so far untested conditions. It is based on a comparison of the empirically based NRMM with the physics-based Nepean Tracked Vehicle Performance Model (NTVPM) for assessing the cross-country performance of military tracked vehicles.…”

Section: Introductionmentioning

confidence: 88%

The Influence of the Quality of Digital Elevation Data on the Modelling of Terrain Vehicle Movement

Rybanský

Rada

2022

Applied Sciences

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This study investigated digital terrain models and options for their evaluation and effective usage. The most important result of this study was the introduction of the slope reduction method for low-detail elevation models. It enabled accurate results of passability analyses by performing adjustments of slopes. In addition, the goal was to determine the strengths and weaknesses of selected data for use in cross-country mobility analyses, followed by recommendations on how to use these databases efficiently to obtain accurate results. The selection of elevation databases (1 m, 5 m, 10 m, 30 m) was determined by the focus of data development projects of NATO and current scientific research projects of the Ministry of Defence of the Czech Republic. Key findings showed potential for use in practise for all tested elevation models. Efficient usage of low-detail models in CCM analyses is limited; nevertheless, they can be augmented with additional vector data or automated remote-sensing technologies.

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Section: Introductionmentioning

confidence: 88%

The Influence of the Quality of Digital Elevation Data on the Modelling of Terrain Vehicle Movement

Rybanský

Rada

2022

Applied Sciences

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“…VCI 1 and VCI 50 represent the minimum soil strength required for a vehicle to consistently make a specific number of passes. In the NATO Reference Mobility Model (NRMM) [26], VCI is used as a metric to evaluate the off-road mobility of military ground vehicles on different soils. The mobility performance is judged by the following:…”

Section: Terramechanic Analysismentioning

confidence: 99%

A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

Chen

Niu

et al. 2022

Machines

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In a complex off-road environment, due to the low bearing capacity of the soil and the uneven features of the terrain, generating a safe and effective global route for unmanned ground vehicles (UGVs) is critical for the success of their motion and mission. Most traditional global path planning methods simply take the shortest path length as the optimization objective, which makes it difficult to plan a feasible and safe route in complex off-road environments. To address this problem, this research proposes a global path planning method, which considers the influence of terrain factors and soil mechanics on UGV mobility. First, we established a high-resolution 3D terrain model with remote sensing elevation terrain data, land use and soil type distribution data, based on a geostatistical method. Second, we analyzed the vehicle mobility by the terramechanical method (i.e., vehicle cone index and Bakker’s theory), and then calculated the mobility cost based on a fuzzy inference method. Finally, based on the calculated mobility cost, the probabilistic roadmap method was used to establish the connected matrix and the multi-dimensional traffic cost evaluation matrix among the sampling nodes, and then an improved A* algorithm was proposed to generate the global route.

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“…The research on the contact between the track and the ground belongs to the category of vehicle terramechanics. Researchers have carried out in-depth investigations, and they have established numerous theories, such as the vehicle cone index and Bekker theory [19][20][21]. With this research foundation, the study on the optimization of grouser parameters is carried out.…”

Section: Track-ground Interaction Modelmentioning

confidence: 99%

Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot

2020

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A multistage adaptive lateral deformation tracked robot was designed to improve the passing ability of field robots. The designed robot can change its width under the combined action of space barrier constraint and internal stored elastic potential energy. The lateral sliding friction affected by grouser parameters during lateral deformation is a key factor that determines whether or not the robot can achieve deformation. This study focuses on the track terramechanics and grouser parameter optimization. On the basis of the theory of terramechanics, the interaction of the flexible track lateral movement with the ground model and traction model was established. Taking the requirement of traction as the constraint condition and the minimum lateral sliding resistance as the optimization objective, we used the multitarget optimization algorithm (NSGA-II) to optimize and analyze the grouser parameters. Then, the optimal combination of grouser parameters was obtained. Simulation analysis was carried out on RecurDyn software to complete the simulation verification of the lateral force and traction force under different grouser parameters. The correctness of the theoretical model and the optimization of the grouser parameters was verified through prototype experiments. INDEX TERMS Multistage deformation, tracked robot, track lateral movement, grouser parameter optimization, RecurDyn simulation.

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Comparison of simulation models NRMM and NTVPM for assessing military tracked vehicle cross-country performance

Cited by 20 publications

References 13 publications

The Influence of the Quality of Digital Elevation Data on the Modelling of Terrain Vehicle Movement

The Influence of the Quality of Digital Elevation Data on the Modelling of Terrain Vehicle Movement

A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot

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