A vehicle-terrain system modeling and simulation approach to mobility analysis of vehicles on soft terrain

Weidong Pan; Yiannis E. Papelis; Yefei He

doi:10.1117/12.547044

2 September 2004 A vehicle-terrain system modeling and simulation approach to mobility analysis of vehicles on soft terrain

Weidong Pan, Yiannis E. Papelis, Yefei He

Author Affiliations +

Proceedings Volume 5422, Unmanned Ground Vehicle Technology VI; (2004) https://doi.org/10.1117/12.547044
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

This paper presents an approach to modeling and simulation of vehicles interacting with the environment (terrain) in a realistic, three-dimensional setting and to assess vehicle mobility based on simulation results. To reliably predict vehicle performance under realistic off-road conditions, lumped-parameter models commonly used in vehicle dynamics are not adequate. In this work, high fidelity, multibody dynamics approach is employed to capture vehicle nonlinear dynamic characteristics. Because all vehicle control forces/moments are generated at the patch where tire and terrain interacts, tire modeling, soil modeling, and tire-soil interaction modeling are critical. In this work, tire is modeled as multiple-input-multiple-output system with parameters determined via high-fidelity physical-based finite element model and/or test data; soil is modeled using the Bekker-Wong approach with parameters determined using high-fidelity physical-based finite element soil model and/or test data. Although the Bekker-Wong approach is relatively old, effective implementation to achieve its fully potential is possible only recently, with the advent of the so-called dynamic terrain database. A computational algorithm for such an implementation is presented. Dynamic terrain allows natural treatment of the multiple-pass problem in spatial and dynamic fashion, as opposed to the approaches found in the literature that can only deal with planar, steady-state rolling in an ad hoc fashion. Tire-terrain interaction is modeled using a hybrid approach of empirical and semi-empirical models. A complete simulation environment can be constructed by integrating all the models and mobility analysis of vehicles be perform on soft terrain. An example is presented to demonstrate the approach. Conclusions and future research directions are presented at the end of the paper.

Citation Download Citation

Weidong Pan, Yiannis E. Papelis, and Yefei He "A vehicle-terrain system modeling and simulation approach to mobility analysis of vehicles on soft terrain", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.547044

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available