Differential Torque Steering for Future Combat Vehicles

Hoogterp, Francis B.; Meldrum, William R.

doi:10.4271/1999-01-3740

Cited by 12 publications

(2 citation statements)

References 3 publications

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“…1 A and B ) takes inspiration from many active-matter experiments ( 25 , 44 , 45 ) and simulations ( 25 , 46 , 47 ) in that it moves straight in the absence of interaction with the other agents. Further, its mechanics are key elements of modern wheeled vehicles, which are deployed in diverse terradynamic scenarios, from paved roads to Martian landscapes ( 48 – 50 ). The vehicle has two rear wheels and one front spherical caster for stability.…”

Section: Active Agent On Membrane: Field-mediated Interaction From a ...mentioning

confidence: 99%

Field-mediated locomotor dynamics on highly deformable surfaces

Ozkan-Aydin

Small

et al. 2022

Proc. Natl. Acad. Sci. U.S.A.

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Studies of active matter—systems consisting of individuals or ensembles of internally driven and damped locomotors—are of interest to physicists studying nonequilibrium dynamics, biologists interested in individuals and swarm locomotion, and engineers designing robot controllers. While principles governing active systems on hard ground or within fluids are well studied, another class of systems exists at deformable interfaces. Such environments can display mixes of fluid-like and elastic features, leading to locomotor dynamics that are strongly influenced by the geometry of the surface, which, in itself, can be a dynamical entity. To gain insight into principles by which locomotors are influenced via a deformation field alone (and can influence other locomotors), we study robot locomotion on an elastic membrane, which we propose as a model of active systems on highly deformable interfaces. As our active agent, we use a differential driven wheeled robotic vehicle which drives straight on flat homogeneous surfaces, but reorients in response to environmental curvature. We monitor the curvature field–mediated dynamics of a single vehicle interacting with a fixed deformation as well as multiple vehicles interacting with each other via local deformations. Single vehicles display precessing orbits in centrally deformed environments, while multiple vehicles influence each other by local deformation fields. The active nature of the system facilitates a differential geometry–inspired mathematical mapping from the vehicle dynamics to those of test particles in a fictitious “spacetime,” allowing further understanding of the dynamics and how to control agent interactions to facilitate or avoid multivehicle membrane-induced cohesion.

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Section: Active Agent On Membrane: Field-mediated Interaction From a ...mentioning

confidence: 99%

Field-mediated locomotor dynamics on highly deformable surfaces

Ozkan-Aydin

Small

et al. 2022

Proc. Natl. Acad. Sci. U.S.A.

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“…With the in-depth study on the in-wheel-motor EV, Leng et al 16 carried further on the thorough research on DDAS by analyzing in-wheel-motor drive characteristics. Hoogterp and Meldrum 17 was the earliest to propose the concept of differential driven steering, extended by sliding steering, and applied it in the military vehicle with non-steering wheels. Zhao et al 18 proposed a multi-discipline coordinated optimization method to analyze the steering road feel, steering sensitivity for the differential driven EV to get the optimized steering economy.…”

Section: Introductionmentioning

confidence: 99%

Torque allocation strategy for four in-wheel-motor drive electric vehicle based on layered control

Chen

Zhao

Jinfang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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The differential torque of four in-wheel-motor drive electric automotive will affect vehicle stability, and applications of the differential driven assisting steering (DDAS) will be limited consequentially. To solve this problem, stability analysis and control system design is essential, therefore a DDAS stability control system is designed based on the layered control of yaw moment. Correlation functions are used to reflect the shifts of vehicle characteristic state between stable and unstable states, and help to determine the control weight of each subsystem in the lower-layer controller. In the lower-layer controller, the strategy of direct steering-wheel torque control is used to build a DDAS controller. Under different vehicle moving states, differential driving torque and yaw moment vary with the change of the control weights; and according to the theory of quadratic programming, optimal allocation of four-wheel driving torques will be made according to the total driving torque. The effectiveness of the proposed control system is verified by numerical simulation and hardware-in-the-loop experiment. The results show that the proposed control method can improve vehicle stability and ensure driving safety.

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An improved kinematic model for skid-steered wheeled platforms

Dogru

Marques

2021

Auton Robot

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Differential Torque Steering for Future Combat Vehicles

Cited by 12 publications

References 3 publications

Field-mediated locomotor dynamics on highly deformable surfaces

Field-mediated locomotor dynamics on highly deformable surfaces

Torque allocation strategy for four in-wheel-motor drive electric vehicle based on layered control

An improved kinematic model for skid-steered wheeled platforms

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