Enhancing the Passing Ability of Unmanned Vehicles Using a Variable-Wheelbase Driving System

Wang, Wenhao; Xu, Hui; Xu, Xiaojun; Zhou, Faliang

doi:10.1109/access.2019.2936268

Cited by 20 publications

(6 citation statements)

References 19 publications

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“…Further details of the working principle of the mechanism are described elsewhere. 22 In addition, the WSD system is not limited to double wishbone suspensions, but can also be used for other suspensions such as single wishbone suspensions and trailing arm suspensions. The WSD system designed for different suspension configurations is similar.…”

Section: The Wsd Systemmentioning

confidence: 99%

Enhancing the tractive performance of unmanned vehicles using an optimised wheel-step driving system

Wang

Zou

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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A wheel-step driving system that can realise a wheel-step driving mode is proposed to improve the tractive performances of wheeled unmanned vehicles when driving on soft roads. Although the wheel-step driving system proposed in this paper adopts double wishbone suspension, it also can be applied for different suspension configurations after adjustment. In this paper, a typical sandy soil and a designated tyre are selected as hypotheses to verify the enhanced effect of wheel-step driving system on tractive performance. First, the wheel-soil interaction mechanism of the wheel-step driving mode is analysed based on terramechanics theory and the wheel-step driving strategy is optimised. The tractive performances of the wheel-step driving mode and the normal driving mode are compared and analysed through numerical calculations. Then, a soil model is established using discrete element software and a wheel model is established using dynamics software; the coupled simulation of the dynamic and discrete elements compares the drawbar pull, the driving torque and the sinkage in the normal driving mode, the wheel-step driving mode and the optimised wheel-step driving mode. The simulation data verify the effectiveness of the optimisation strategy used and the enhancement effect of the wheel-step driving mode on the traction performance. Finally, a soil-bin test system is built and a tractive performance experiment is performed. The experimental data and the simulation data show good agreement, thus verifying the correctness of the simulation model.

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Section: The Wsd Systemmentioning

confidence: 99%

Enhancing the tractive performance of unmanned vehicles using an optimised wheel-step driving system

Wang

Zou

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…The composition and the working principle of this mechanism are described in detail elsewhere. 28 The initial wheelbase from the front axle to the middle axle and the corresponding wheelbase from the middle axle to the rear axle are both 1.6 m. The wheelbase adjustment mechanism allows the middle axle to move longitudinally relative to the frame within a AE0.5 m range. The vehicle parameters are listed in Table 1.…”

Section: Vcwd Systemmentioning

confidence: 99%

Development of variable-configuration wheeled driving system for enhancing the obstacle-crossing ability of unmanned vehicles

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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A variable-configuration wheeled driving system is proposed to improve the obstacle-crossing abilities of unmanned vehicles. The effects of the wheel load on the wheels’ obstacle-crossing abilities are analysed using statics theory. Similarly, the effects of the suspension’s stiffness and the adhesion coefficient on the vehicle’s obstacle-crossing ability are analysed. Numerical calculation results show that a higher wheel lift height leads to improved obstacle-crossing abilities. A strategy to adjust the system configuration during obstacle crossing is designed with the wheel lift height acting as the optimisation target. The variable-configuration strategy is verified and the optimal adjustment of the middle axle is determined through simulations. An obstacle-crossing experiment shows that a vehicle can cross a 1-m step obstacle when the proposed variable-configuration strategy is applied. The obstacle-crossing ability of the unmanned vehicle can thus be greatly enhanced.

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“…Unmanned ground vehicles (UGV) are designed with a distributed chassis structure with six-wheel independent drive and four-wheel independent steering (6WID/4WIS) as a platform, with the advantages of fast, flexible and accurate response [ 1 , 2 , 3 , 4 ]. Applying it to path tracking control not only improves the accurate tracking of the desired path, but also helps improve the operability and flexibility of unmanned vehicles [ 5 , 6 ].…”

Section: Introductionmentioning

confidence: 99%

Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control

et al. 2022

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For the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinematic model is designed considering the structural advantages of independent steering and independent driving of the unmanned vehicle, and this model is applied to the path tracking strategy. The strategy is divided into two levels of control. The upper level of control is to use the upper-level kinematic model as the prediction model of model predictive control (MPC), and to convert the solution problem of future control increments into the optimal solution problem of quadratic programming by setting the optimal objective function and constraints. The lower level of control is to map the optimal control quantities obtained from the upper level control to the six-wheel speeds and the four-wheel turning angles through the lower-level kinematics, and to design the six-wheel torque distribution rules based on deterministic torque and stability-based slip rate control for executing the control requirements of the upper level controller to prevent the unmanned vehicle from generating sideslip and precisely generating transverse moment to ensure the stable driving of the unmanned vehicle. Experiments were conducted on the Trucksim/Simulink simulation platform for a variety of road conditions, and the results showed that hierarchical control improved the accuracy of tracking the desired path and the driving stability on complex road surfaces more than MPC.

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Enhancing the Passing Ability of Unmanned Vehicles Using a Variable-Wheelbase Driving System

Cited by 20 publications

References 19 publications

Enhancing the tractive performance of unmanned vehicles using an optimised wheel-step driving system

Enhancing the tractive performance of unmanned vehicles using an optimised wheel-step driving system

Development of variable-configuration wheeled driving system for enhancing the obstacle-crossing ability of unmanned vehicles

Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control

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