Development of variable-configuration wheeled driving system for enhancing the obstacle-crossing ability of unmanned vehicles. (May 2021)

• Record Type: Journal Article
• Authors: Wang, Wen-Hao; Xu, Xiao-Jun; Xu, Hai-Jun; Sun, Cheng-Liang
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 235:Number 9(2021)
• Page Start: 1645
• Page End: 1659
• Publication Date: 2021-05
• Subjects: Obstacle-crossing ability -- variable-configuration strategy -- unmanned vehicle -- obstacle-crossing experiment; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/0954406220951600
• Languages: English
• ISSNs: 0954-4062

Abstract

A variable-configuration wheeled driving system is proposed to improve the obstacle-crossing abilities of unmanned vehicles. The effects of the wheel load on the wheels' obstacle-crossing abilities are analysed using statics theory. Similarly, the effects of the suspension's stiffness and the adhesion coefficient on the vehicle's obstacle-crossing ability are analysed. Numerical calculation results show that a higher wheel lift height leads to improved obstacle-crossing abilities. A strategy to adjust the system configuration during obstacle crossing is designed with the wheel lift height acting as the optimisation target. The variable-configuration strategy is verified and the optimal adjustment of the middle axle is determined through simulations. An obstacle-crossing experiment shows that a vehicle can cross a 1-m step obstacle when the proposed variable-configuration strategy is applied. The obstacle-crossing ability of the unmanned vehicle can thus be greatly enhanced.