Terrain Assessment for High Speed Navigation of Unmanned Ground Vehicles
Date
2014-09-24
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Abstract
This thesis proposes a novel terrain assessment technique that is based on an analytical analysis of the vehicle-terrain dynamic interaction. Two geometric characteristics of the terrain: roughness and slope, are addressed in this thesis. Based on such characteristics, two indices are developed in this thesis to assess the Unmanned Ground Vehicle’s (UGV’s) traversability of the terrain quantitatively: Roughness Index (RI) and Stability Index (SI). The RI concept is based on existing remote sensing Geophysics techniques to quantify the effect of the terrain on the UGV. As a result this thesis crosses the bridge between two different disciplines. The proposed RI is a function of the terrain profile and the vehicle’s dynamic and geometric characteristics. A closed form expression of the maximum allowable vehicle speed as function of RI is developed. The proposed SI, on the other hand, is used to represent the vehicle’s stability. In addition of the terrain profile and the vehicle’s characteristics, e.g., centre of gravity and suspension, the SI is also a function of the vehicle state, i.e., speed and radius of turn.
The proposed approach used to determine the UGV’s speed is generic enough that it can be employed in and type of ground vehicle. Two selected navigation examples, among the numerous examined, are presented to illustrate the implementation of the proposed terrain assessment technique. The first example illustrates how the proposed terrain assessment can be used to plan the speed of the vehicle while following a given path on an unknown terrain. The second example illustrates the proposed technique used by a UGV to find the optimum path to traverse on a pre-known terrain. Due to its relative simplicity the developed technique can be used in real time to navigate UGVs from point A to point B at the highest (yet safe) vehicle speed while maintaining the integrity of the vehicle. Although the proposed technique is novel and shows great consistency, this thesis concludes with many unanswered questions.
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Keywords
Engineering--Mechanical, Robotics
Citation
El-Kabbany, A. (2014). Terrain Assessment for High Speed Navigation of Unmanned Ground Vehicles (Doctoral thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/27997