Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig

Evangelos Georgiou; Savan Chhaniyara; Said Al-Milli; Jian Dai; Kaspar Althoefer; Lakmal Seneviratne

Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig

Evangelos Georgiou, Savan Chhaniyara, Said Al-Milli, Jian Dai, Kaspar Althoefer, Lakmal Seneviratne

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

10 Citations (Scopus)

Abstract

An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles on soft terrains. The objective of this paper is to develop a test rig that will generate experimental data for autonomous tracked vehicles following a steady state circular trajectory on soft terrains. The data will be used in the future to validate a traversability model for predicting track thrusts, a visual odometry technique for predicting vehicle slip and in controlling autonomous tracked vehicle following a steady state circular trajectory on soft terrains that were developed at King's College London.

Original language	English
Title of host publication	Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Pages	1106-1113
ISBN (Electronic)	978-981-4469-63-0
Publication status	Published - Sept 2008

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Georgiou, E., Chhaniyara, S., Al-Milli, S., Dai, J., Althoefer, K., & Seneviratne, L. (2008). Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig. In Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (pp. 1106-1113) http://www.worldscientific.com/worldscibooks/10.1142/7060

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title = "Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig",

abstract = "An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles on soft terrains. The objective of this paper is to develop a test rig that will generate experimental data for autonomous tracked vehicles following a steady state circular trajectory on soft terrains. The data will be used in the future to validate a traversability model for predicting track thrusts, a visual odometry technique for predicting vehicle slip and in controlling autonomous tracked vehicle following a steady state circular trajectory on soft terrains that were developed at King's College London.",

author = "Evangelos Georgiou and Savan Chhaniyara and Said Al-Milli and Jian Dai and Kaspar Althoefer and Lakmal Seneviratne",

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Georgiou, E , Chhaniyara, S , Al-Milli, S , Dai, J , Althoefer, K & Seneviratne, L 2008, Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig. in Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. pp. 1106-1113. <http://www.worldscientific.com/worldscibooks/10.1142/7060>

Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig. / Georgiou, Evangelos ; Chhaniyara, Savan ; Al-Milli, Said et al.
Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. 2008. p. 1106-1113.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

TY - CHAP

T1 - Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig

AU - Georgiou, Evangelos

AU - Chhaniyara, Savan

AU - Al-Milli, Said

AU - Dai, Jian

AU - Althoefer, Kaspar

AU - Seneviratne, Lakmal

PY - 2008/9

Y1 - 2008/9

N2 - An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles on soft terrains. The objective of this paper is to develop a test rig that will generate experimental data for autonomous tracked vehicles following a steady state circular trajectory on soft terrains. The data will be used in the future to validate a traversability model for predicting track thrusts, a visual odometry technique for predicting vehicle slip and in controlling autonomous tracked vehicle following a steady state circular trajectory on soft terrains that were developed at King's College London.

AB - An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles on soft terrains. The objective of this paper is to develop a test rig that will generate experimental data for autonomous tracked vehicles following a steady state circular trajectory on soft terrains. The data will be used in the future to validate a traversability model for predicting track thrusts, a visual odometry technique for predicting vehicle slip and in controlling autonomous tracked vehicle following a steady state circular trajectory on soft terrains that were developed at King's College London.

M3 - Conference paper

SN - 978-981-283-576-5

SP - 1106

EP - 1113

BT - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

ER -

Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig

Abstract

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