This paper presents an unmanned ground vehicle for use in outdoor environments. The vehicle features a two-bodied design in which the two bodies can rotate relative to each other about a fixed axis. The vehicle uses tracked locomotion for performance in rugged environments and a linear actuator for control of the bodys’ relative orientation. A spring-damper is used to mitigate vibrations due to surface conditions that would add noise to the sensors. A nonlinear model for the vehicle is introduced, and linearized. Design considerations of the suspension system are discussed, including the reduction of vibrations and the maximization of contact forces. Finally, the vehicle dynamics are simulated for the linear and nonlinear models, and the effectiveness and computation time of the two are compared.
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ASME 2017 Dynamic Systems and Control Conference
October 11–13, 2017
Tysons, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5827-1
PROCEEDINGS PAPER
A Tracked Double-Bodied Vehicle for Use in Outdoor Environments
Michael Benson,
Michael Benson
Villanova University, Villanova, PA
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Garrett M. Clayton
Garrett M. Clayton
Villanova University, Villanova, PA
Search for other works by this author on:
Michael Benson
Villanova University, Villanova, PA
Garrett M. Clayton
Villanova University, Villanova, PA
Paper No:
DSCC2017-5334, V001T30A010; 8 pages
Published Online:
November 14, 2017
Citation
Benson, M, & Clayton, GM. "A Tracked Double-Bodied Vehicle for Use in Outdoor Environments." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T30A010. ASME. https://doi.org/10.1115/DSCC2017-5334
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