Performance prediction of a wheeled vehicle on unknown terrain using identified soil parameters

  title={Performance prediction of a wheeled vehicle on unknown terrain using identified soil parameters},
  author={Suksun Hutangkabodee and Yahya H. Zweiri and Lakmal D. Seneviratne and Kaspar Althoefer},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
This paper presents a novel technique for identifying soil parameters for a wheeled vehicle travelling on an unknown terrain. The identified soil parameters are required for predicting vehicle drawbar pull and wheel drive torque which can be employed for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The Newton Raphson method is used as the identification technique applied on the modified form of the wheel-soil interaction… CONTINUE READING


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