Fused Dynamics of Unmanned Ground Vehicle Systems

Academic Article


  • As it is shown, the drive axles of the vehicle interfere with the vehicle's dynamics through the distribution of the wheels' normal reactions and wheel torques. The interference causes the independent system dynamics to become operationally coupled/fused and thus diminishes vehicle mobility and energy efficiency. The analysis is done by the use of new mobility indices and energy efficiency indices which are functionally coupled/fused. Four possible scenarios are considered to trade between mobility and energy efficiency improvements by redistributing power between the drive axles in severe/extreme terrain conditions, including poor friction coefficient conditions, and high longitudinal and lateral slopes. Potential design improvements to de-couple (de-fuse) dynamics of the two systems are also discussed.
  • Digital Object Identifier (doi)

    Author List

  • Vantsevich VV; Gray JP; Murphy D
  • Start Page

  • 406
  • End Page

  • 413
  • Volume

  • 7
  • Issue

  • 2