Terrain profiles are the main excitation to the chassis and the resulting loads drive vehicle designs. This motivates the need for accurate models to characterize specific terrains, enabling the generation of synthetic terrain profiles for accelerated testing and simulation. Studies of models such as power spectral density (PSD) have shown that accurately modeling spatially long and short wavelengths simultaneously is difficult. In order to better model short wavelength content separately, a spectral decomposition method is developed, where a first order Markov Chain is used to model the high-passed terrain profile. The problem is formulated as a constrained optimization problem; that is, given the constraint region where the Markov property holds, find the best model among the set of spectrally decomposed profiles. The optimization methodology consists of the comparison of statistical properties of measured and synthesized profiles. This process is demonstrated on paved and non-paved profiles taken at the Virginia Tech Transportation Institute (VTTI) and on public roads in Danville, Virginia with longitudinal resolution of 0.025 m. The results yield significant insights to further modeling terrain profiles using Markov Chains.
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ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
October 17–19, 2012
Fort Lauderdale, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4531-8
PROCEEDINGS PAPER
Methodology for Optimizing First Order Markov Chains of Spectrally Decomposed Terrain Profiles
Philip A. Chin,
Philip A. Chin
Virginia Polytechnic Institute and State University, Blacksburg, VA
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John Ferris,
John Ferris
Virginia Polytechnic Institute and State University, Blacksburg, VA
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Alexander A. Reid
Alexander A. Reid
U.S. Army RDECOM-TARDEC, Warren, MI
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Philip A. Chin
Virginia Polytechnic Institute and State University, Blacksburg, VA
John Ferris
Virginia Polytechnic Institute and State University, Blacksburg, VA
Alexander A. Reid
U.S. Army RDECOM-TARDEC, Warren, MI
Paper No:
DSCC2012-MOVIC2012-8746, pp. 299-307; 9 pages
Published Online:
September 17, 2013
Citation
Chin, PA, Ferris, J, & Reid, AA. "Methodology for Optimizing First Order Markov Chains of Spectrally Decomposed Terrain Profiles." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 299-307. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8746
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