Improved sinkage algorithms for powered and unpowered wheeled vehicles operating on sand

Mason, George L.; Vahedifard, Farshid; Robinson, Joe D.; Howard, Isaac L.; McKinley, George B.; Priddy, Jody D.

doi:10.1016/j.jterra.2016.07.001

Cited by 17 publications

(6 citation statements)

References 12 publications

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“…The pressure-sinkage relation proposed by Bekker needs a series of empirical parameters, such as: the cohesion modulus k c , the frictional modulus k ɸ and the exponent of sinkage n. These parameters are determined by means of the Bevameter test [4]. Because the equipment required is big and the interpretation of the results is not simple, often the usage of the Cone Penetrometer (CP) is preferred to estimate the rolling resistance and performance of off-road vehicles [5]. CP is a portable device to measure the strength of the soil.…”

Section: Rolling Resistance On Soft Soilsmentioning

confidence: 99%

“…The points are in the middle between the trees of each path side for avoiding their roots. Because the average CI for the first 15 cm is widely used for rolling resistance evaluation [5], a depth of 15 cm is considered here. On the wheel tramlines some of the measurements could not be completed because the resistance exceeded the limit of the sensor.…”

Section: Experiments In the Vineyardmentioning

confidence: 99%

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Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot

Maria

Ishii

2019

JRNAL

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Section: Rolling Resistance On Soft Soilsmentioning

confidence: 99%

Section: Experiments In the Vineyardmentioning

confidence: 99%

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot

Maria

Ishii

2019

JRNAL

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“…Vahedifard et al (2016) presented the first release of DROVE which includes tests conducted on sand. Mason et al (2016) used the sand database to reduce the complexity of previous sinkage algorithms while improving the correlations. In a similar manner, this study presents a new component for DROVE which provides the mobility community with a resource to evaluate existing fine-grained soil mobility algorithms and also, to develop new improved algorithms to assess performance of various wheel designs in fine-grained soil.…”

Section: Applications and Future Extensionsmentioning

confidence: 99%

Development of a multi-year database to assess off-road mobility algorithms in fine-grained soils

Vahedifard

Williams

Mason

et al. 2017

IJVP

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A gap in off-road mobility is the availability of the test data necessary for the development and validation of tyre, track and soil models. This paper presents the results from a multi-year program to create the database records for off-road vehicle environments (DROVE), a consolidated database of laboratory and field test results. A fine-grained soil component was added to DROVE by compiling 2657 test results. Performance parameters including drawbar pull, motion resistance, torque, sinkage, and slip were included in the database. The database was used to evaluate the accuracy of existing algorithms used in the vehicle-terrain interface (VTI) model. The results indicated that the VTI algorithms can provide reasonable predictions for a few parameters but for others, such as motion resistance, further improvements are warranted. 4 F. Vahedifard et al.The DROVE dataset can be used for several applications including evaluation of existing mobility models, development of improved algorithms, and validation of numerical simulations.

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“…A large number of studies have refined and extended Bekker's semi-empirical models, many of which are summarised in the more recent works by Osetinsky and Shmulevich (2004), Shibly et al (2005), Ding et al (2014), and Gallina et al (2016). Another large subset of empirical approaches is based on correlating vehicle performance directly to soil strength and deformability indices obtained from cone penetration tests (e.g., Freitag, 1965;Priddy, 1999;Maclaurin, 2007;Mason et al, 2016. Rigorous models capable of relating wheel forces to fundamental soil mechanical properties are comparatively scarce but nevertheless can be found in the literature.…”

Section: Introductionmentioning

confidence: 99%

Predicting wheel forces using bearing capacity theory for general planar loads

Hambleton¹,

Stanier²

2018

Preprint

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This paper assesses the applicability of bearing capacity theory for evaluating the forces generated on wheels operating on clay under steady rolling conditions. Considering recent advances in bearing capacity theory, namely with respect to the interaction diagrams developed for general loading, a theoretical model for computing the horizontal force or torque from fundamental input parameters such as the vertical force (weight), wheel diameter, and undrained shear strength of the soil is presented. The predictions are compared with existing analytical solutions and data from laboratory testing, and reasonable agreement is demonstrated. The foremost conclusion is that bearing capacity theory can be used to obtain reasonable predictions of wheel forces analytically under any operating condition (driven, braked, or towed), provided the contact length and so-called contact angle, which defines the position of the contact interface, can be estimated. Aside from providing a rigorous and highly convenient framework for evaluating wheel forces under arbitrary loading, the analysis enables a natural physical interpretation of the mobility problem.

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Improved sinkage algorithms for powered and unpowered wheeled vehicles operating on sand

Cited by 17 publications

References 12 publications

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot

Development of a multi-year database to assess off-road mobility algorithms in fine-grained soils

Predicting wheel forces using bearing capacity theory for general planar loads

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