Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems

Abstract

The article explored the potential for enhancing the off-road mobility of unmanned ground vehicles (UGV) equipped with a hydrostatic drive system. The analysis showed that effectively overcoming rough or soft terrain demands a slip limitation. In the UGVs with hydrostatic drives, flow dividers are used for this purpose. Unfortunately, they have certain drawbacks, such as reduced efficiency due to pressure losses. In order to minimize this phenomenon, an external braking system was used as a new slip control system. Therefore, simulation studies were carried out to assess the new slip control system while overcoming terrain obstacles due to the reduction of energy consumption and improving the mobility of the UGV.

Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping

“…According to the hydraulic motors mapping (7), we can define inverse mapping functions, which are given as…”

“…Hydraulic systems offer advantages such as high power-to-weight ratio, low cost, and high reliability [5]. Considering these factors, hydraulic-driven skid-steer mobile robots have garnered significant attention in recent years [5][6][7]. These robots can undertake a variety of tasks in high-risk environments, effectively replacing human involvement.…”

Susceptibility Modeling of a Rubber Track for Lightweight Mobile Robots

“…Their main capability is to directly replace humans in hazardous work environments. To achieve the necessary functionality, they are required to have an adequate mobility level for the working conditions, effectiveness in task performance [3], and sufficient energy reserve for the expected working time [4].…”

“…The rolling resistance coefficient may be the main component of energy loss. Even on non-deformable surfaces, it may exceed 20% [3,22].…”