期刊
出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0954406220951600
关键词
Obstacle-crossing ability; variable-configuration strategy; unmanned vehicle; obstacle-crossing experiment
资金
- National Natural Science Foundation of China [51475464, 51575519, 51675524, 51705525, 51675522]
- Science Foundation for Young Scientists of Hunan province [2017JJ3355, 2018JJ3605]
A variable-configuration wheeled driving system is suggested to enhance the obstacle-crossing abilities of unmanned vehicles. The study analyses the effects of wheel load, suspension stiffness, and adhesion coefficient on the vehicle's obstacle-crossing ability, with numerical results indicating that higher wheel lift height improves obstacle-crossing abilities.
A variable-configuration wheeled driving system is proposed to improve the obstacle-crossing abilities of unmanned vehicles. The effects of the wheel load on the wheels' obstacle-crossing abilities are analysed using statics theory. Similarly, the effects of the suspension's stiffness and the adhesion coefficient on the vehicle's obstacle-crossing ability are analysed. Numerical calculation results show that a higher wheel lift height leads to improved obstacle-crossing abilities. A strategy to adjust the system configuration during obstacle crossing is designed with the wheel lift height acting as the optimisation target. The variable-configuration strategy is verified and the optimal adjustment of the middle axle is determined through simulations. An obstacle-crossing experiment shows that a vehicle can cross a 1-m step obstacle when the proposed variable-configuration strategy is applied. The obstacle-crossing ability of the unmanned vehicle can thus be greatly enhanced.
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