Next-generation NATO reference mobility model complex terramechanics – Part 1: Definition and literature review

Wasfy, Tamer M.; Jayakumar, Paramsothy

doi:10.1016/j.jterra.2021.02.002

Cited by 10 publications

(8 citation statements)

References 37 publications

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“…Ray (2009) proposed a real‐time terrain strength characteristic estimation method, based on wheeled vehicles. Furthermore, some research focused on the prediction of vehicle's mobility performant using mathematical modeling or empirical investigation (Rybansky, 2020; Scott & Saaj, 2012; Wasfy & Jayakumar, 2021). Rybansky (2020) proposed a prediction model for vehicle trafficability in forest areas.…”

Section: Related Workmentioning

confidence: 99%

Trafficability anticipation for quadruped robot in field operation

Wang,

Zhang,

Dong

et al. 2024

Journal of Field Robotics

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The capability to predict catastrophic failures and anticipate challenges relating to trafficability enables quadruped robots to adjust their planned trajectory in time to prevent any damages. In this paper, an estimation‐based method is proposed to describe the validity of the trajectory from the viewpoint of the traction performance of the terrain. The main contribution of this study lies in equipping quadruped robots with the ability to comprehend the strength characteristics of the terrain and assess the validity of trajectory planning by anticipating potential catastrophic motion failures. To this end, a novel perception method of the foot terrain interface based on proprioception is proposed to estimate terrain strength parameters. The vehicle–terrain traction model is extended to a legged locomotion pattern to estimate the traction limits of the terrain. The trafficability anticipation is driven by combining the traction limits of the terrain and the expected ground reaction force, as obtained by the model‐based predictive methods. The validity of this method is verified using a quadruped robot test platform. Results highlight the potential of the presented approach, in which the anticipation of trafficability, grounded in the understanding of the terrain strength, serves as the explicit foundation for altering trajectories to avert motion failure.

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Section: Related Workmentioning

confidence: 99%

Trafficability anticipation for quadruped robot in field operation

Wang,

Zhang,

Dong

et al. 2024

Journal of Field Robotics

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“…As an excellent 3D multi-body system dynamics simulation software, RecurDyn is widely used in the dynamics simulation of vehicles. [30][31][32][33][34] The advantage of this software is the ability to solve the large deformations of nonlinear materials and to provide an interface for coupling with EDEM, thus enabling bidirectional coupling of particles and machine component. EDEM has proved to be high-performance DEM simulation software for particle-related research in aerospace, chemicals, pharmaceuticals, food, and agricultural.…”

Section: Introductionmentioning

confidence: 99%

“…EDEM has proved to be high-performance DEM simulation software for particle-related research in aerospace, chemicals, pharmaceuticals, food, and agricultural. [34][35][36][37][38][39][40] In this paper, RecurDyn and EDEM software were used to establish the 3D DEM-FEM coupling simulation system. The FEM model 41 of the flexible wheel and its motion were modeled by RecurDyn.…”

Section: Introductionmentioning

confidence: 99%

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3D DEM-FEM simulation of the flexible metal wheel–soil interaction in low gravity environments

Zhu

Zou

Shen

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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To investigate the driving performance of the flexible metal wheel of the manned lunar rover in a low gravity environment, we established a 3D discrete element method (DEM)-finite element method (FEM) coupling simulation system. The wheel was modeled by FEM and the soil was modeled by DEM. Then, the direct shear tests were performed to verify the validity of the DEM contact parameters. Finally, the driving performance of the flexible metal wheels with different treads under low gravity conditions was studied, and the velocity field of soil particles under the wheels was observed. The results show that the sinkage of the flexible wheel is almost independent of gravity, while the torque and drawbar pull are significantly affected by gravity. Moreover, by comparing the driving performance of the wheel equipped with treads (WT wheel) and without tread (NT wheel), it is found that the tread have great effect on sinkage, torque, and drawbar pull to wheel weight ratio due to the differences in wheel-soil contact area. Also, through the observation of the particle velocity field under the wheel, it is found that the gravity and load also have significant effects on the movement of soil particles. This study provided a reliable method for studies on the interaction between the flexible wheel and soil in low gravity environments.

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“…This model is used for modelling the movement possibilities for various types of military vehicles and it covers the whole area of operation planning, including: scenario, terrain, and vehicle data [ 16 ]. Detailed descriptions of the Next-Generation NRMM are provided in the final report [ 17 , 18 ]. This model is connected to several research projects on various aspects of Cross Country Movement.…”

Section: Introductionmentioning

confidence: 99%

Methodology of Using Terrain Passability Maps for Planning the Movement of Troops and Navigation of Unmanned Ground Vehicles

Dawid

Pokonieczny

2021

Sensors

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The determination of the route of movement is a key factor which enables navigation. In this article, the authors present the methodology of using different resolution terrain passability maps to generate graphs, which allow for the determination of the optimal route between two points. The routes are generated with the use of two commonly used pathfinding algorithms: Dijkstra’s and A-star. The proposed methodology allows for the determination of routes in various variants—a more secure route that avoids all terrain obstacles with a wide curve, or a shorter route, which is, however, more difficult to pass. In order to achieve that, two functions that modify the value of the index of passability (IOP), which is assigned to the primary fields that the passability map consists of, have been used. These functions have a β parameter that augments or reduces the impact of the applied function on IOP values. The paper also shows the possibilities of implementation of the methodology for the movement of single vehicles or unmanned ground vehicles (UGVs) by using detailed maps as well as for determining routes for large military operational units moving in a 1 km wide corridor. The obtained results show that the change in β value causes the change of a course of the route as expected and that Dijkstra’s algorithm is more stable and slightly faster than A-star. The area of application of the presented methodology is very wide because, except for planning the movement of unmanned ground vehicles or military units of different sizes, it can be used in crisis management, where the possibility of reaching the area outside the road network can be of key importance for the success of the salvage operation.

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Next-generation NATO reference mobility model complex terramechanics – Part 1: Definition and literature review

Cited by 10 publications

References 37 publications

Trafficability anticipation for quadruped robot in field operation

Trafficability anticipation for quadruped robot in field operation

3D DEM-FEM simulation of the flexible metal wheel–soil interaction in low gravity environments

Methodology of Using Terrain Passability Maps for Planning the Movement of Troops and Navigation of Unmanned Ground Vehicles

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