Study on a driver model of military unmanned ground vehicle on off-road
The MUGV(military unmanned ground vehicles) is a vehicle which is operated without human on board for short-range surveillance and reconnaissance.For a military mission,the MUGV must be driven on a rough terrain and undergo instantaneous and continuous random shocks.So,the MUGV has to control driving velocity and direction by estimating road roughness.To follow a planned path and a speed profile,it is required selecting a driver model that suited to vehicle type.Unlike Ackerman steer vehicle,Skid steer vehicle’s driver model is not well-researched because skid steering phenomenon is not explained by geometric approach.Stanley method is widely known as easy to implement but high effectiveness.And this does not require vehicle’s equation of motion.But this method is confined to an application of Ackerman vehicles.This study devote to apply Stanley method to skid steer vehicle.The Vehicle’s equation of motion model is formulated with velocity transformation technique based joint coordinates.The method is validated by a driving simulation.
UGV Skid steer vehicle Stanley method
Samuel Jung Wan-Suk Yoo
School of Mechanical Engineering Pusan National University Geumjung-gu,Busan 609-735,Korea
国际会议
天津
英文
1-4
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）