Mobility guidance for tracked vehicles on fine-grained soil from historical full-scale test data in DROVE 2.0

Comparing real and simulated performance for an off‐road autonomous ground vehicle in obstacle avoidance

“…This is the most likely contributing factor to the deviation of experiment and simulation, and one that can be remedied in future work. Second, the real test vehicle accumulated a significant amount of mud on the front, sides, and undercarriage of the vehicle-estimated to be up to 45 kg (100 pounds), potentially significantly altering the dynamics of the vehicle.Finally, the soft soil model used in MAVS is based on the equations from the DROVE database(Williams et al, 2019), which are for in situ, undisturbed fine-grained soil. Obviously, this condition was violated in the physical testing, which took place in a recently-plowed field.…”