Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 11 of 11 for “"Deformable terrain"”.
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Robust motion planning for autonomous tracked vehicles in deformable terrain
… for tracked vehicles operating on rough terrain, vehicle slip due to vehicle terrain interaction affects the vehicle system significantly. In such cases, the motion planning of the autonomous vehicle must be performed robustly, considering the uncertain factors in advance of the real-time …
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Terrain parameter estimation and traversability assessment for mobile robots
The estimation of terrain characteristics is an important missions of Martian exploration rovers. Since only limited resources and human supervision are available, efficient and autonomous method of estimation are required. In this thesis, an on-line estimation method of two important terrain …
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Modeling, analysis, and measurement of passenger vehicle stability
… the rollover stability of robots on rough terrain at low speed. Accident statistics show, however, that over 80% of rollovers occur when a vehicle departs the roadway and encounters sloped and rough terrain at high speed. This thesis investigates the stability limits imposed by off-road …
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Terrain identification methods for planetary exploration rovers
Autonomous mobility in rough terrain is becoming increasingly important for planetary exploration rovers. Increased knowledge of local terrain properties is critical to ensure a rover's safety, especially when driving on slopes or rough surfaces. This thesis presents two methods for using on-board …
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A Hybrid Soft Soil Tire Model (HSSTM) For Vehicle Mobility And Deterministic Performance Analysis In Terramechanics Applications
Accurate and efficient tire models for deformable terrain operations are essential for performing vehicle simulations. Assessment of the forces and moments that occur at the tire-terrain interface, and the effect of the tire motion on properties of the terrain are crucial in understanding the …
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A lumped-parameter model of tire-terrain interactions for off-road vehicles
… for designing various control units. Tire-terrain model forms the center piece of such vehicle model development. This thesis aims at developing a discrete, lumped-parameter, physical model for capturing transient interactions between a deformable tire and a deformable terrain. …
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Prediction of mobility, handling, and tractive efficiency of wheeled off-road vehicles
… and are intended to operate on soft, deformable terrain. The performance of off-road vehicles is deeply influenced by the tire-soil interaction mechanism. Soft soil can drastically reduce the traction performance of tires up to the point of making motion impossible. In this study, a …
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Experimental Investigation of the Tractive Performance of an Instrumented Off Road Tire in a Soft Soil Terrain
… of the interaction between a pneumatic tire and deformable terrain. A design of experiments has been implemented, that gives insight into the effect of individual tire and soil parameters, specifically wheel slip, normal load, inflation pres-sure, and soil compaction, as well as into the effect …
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A Galerkin Approach to Define Measured Terrain Surfaces with Analytic Basis Vectors to Produce a Compact Representation
… time and money spent in the development process. Terrain is the principle source of vertical excitation to the vehicle and must be accurately represented in order to correctly predict the vehicle response in simulation. In this dissertation, non-deformable terrain surfaces are defined as a …
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Development of an Off-Road Capable Tire Model for Vehicle Dynamics Simulations
… for engineering mobility analysis. Vehicle-terrain interaction is a complex phenomena governed by soil mechanical behavior and tire deformation. The theoretical analysis involved in the development of the wheel/ tire model relies on application of existing soil mechanics theories based on …
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Experimental Study on the Mobility of Lightweight Vehicles on Sand
… with a review of the defining properties of deformable terrain with specific emphasis on sand. These present a basis for understanding what currently defines mobility and how mobility is quantified for traditional heavyweight wheeled and tracked vehicles, as well as an understanding of the …