Longitudinal Vehicle Control based on Off-road Tire Model for Soft Soil Applications. Issue 10 (2021)
- Record Type:
- Journal Article
- Title:
- Longitudinal Vehicle Control based on Off-road Tire Model for Soft Soil Applications. Issue 10 (2021)
- Main Title:
- Longitudinal Vehicle Control based on Off-road Tire Model for Soft Soil Applications
- Authors:
- Vieira, David
Orjuela, Rodolfo
Spisser, Matthias
Basset, Michel - Abstract:
- Abstract: Autonomous off-road vehicles such as tractors, military vehicles, construction and agricultural machinery require an important power traction to face off mobility issues on soft soils and rough terrains. This paper presents a powertrain controller developed using an adapted Burckhardt tire model based on a Bekker-Wong wheel-soil interaction model according to the plasticity theory and soil mechanics. A Gain Scheduling approach allows the vehicle to maintain the desired reference speed while avoiding the impact of ground conditions. Simulation results show vehicle mobility control through different types of soils.
- Is Part Of:
- IFAC-PapersOnLine. Volume 54:Issue 10(2021)
- Journal:
- IFAC-PapersOnLine
- Issue:
- Volume 54:Issue 10(2021)
- Issue Display:
- Volume 54, Issue 10 (2021)
- Year:
- 2021
- Volume:
- 54
- Issue:
- 10
- Issue Sort Value:
- 2021-0054-0010-0000
- Page Start:
- 304
- Page End:
- 309
- Publication Date:
- 2021
- Subjects:
- Off-road tire model -- Off-road vehicle applications -- Longitudinal control -- Powertrain control
Automatic control -- Periodicals
629.805 - Journal URLs:
- https://www.journals.elsevier.com/ifac-papersonline/ ↗
http://www.sciencedirect.com/ ↗ - DOI:
- 10.1016/j.ifacol.2021.10.180 ↗
- Languages:
- English
- ISSNs:
- 2405-8963
- Deposit Type:
- Legaldeposit
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- Available online (eLD content is only available in our Reading Rooms) ↗
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- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 22639.xml