Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics

@article{Song2004IdentificationOS,
  title={Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics},
  author={Zibin Song and Suksun Hutangkabodee and Y. H. Zweiri and L. D. Seneviratne and Kaspar Althoefer},
  journal={SICE 2004 Annual Conference},
  year={2004},
  volume={3},
  pages={2255-2260 vol. 3}
}
This paper presents a novel method for identifying soil parameters during traversing of a tracked vehicle on unknown terrain. Two identification methods, Newton Raphson (NR) method and least square (LS) method are used and compared for prediction accuracy and computational speed. The NR method identifies unknown individual parameters of the soil and can be used when the number of equations is the same as the number of parameters to be identified. The LS method optimises the root-mean-square… CONTINUE READING

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