IMPROVEMENT OF OFF-ROAD VEHICLES PERFORMANCE USING CONTROLLABLE TORQUE DISTRIBUTION DEVICE

Dynamic Analysis of Off-Road Vehicles

This paper deals with the simulation of oo-road robots while taking into account the mechanical behavior of the locomotion system and its interaction with its environment. This interaction is studied and discussed for diierent behaviors of wheel-soil contact. The analysis considers phenomena of slips, of soil shear deformations, of soil compaction and wheel elastic deformation. Wheel-soil conta...

Performance Improvement of Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Drives Using Artificial Intelligence

The main theme of this paper is to present novel controller, which is a genetic based fuzzy Logic controller, for interior permanent magnet synchronous motor drives with direct torque control. A radial basis function network has been used for online tuning of the genetic based fuzzy logic controller. Initially different operating conditions are obtained based on motor dynamics incorporating...

Physical models of off-road vehicles moving on loose soils

Dynamic Motion Planning of Autonomous Off-Road Vehicles

Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments

The DARPA PerceptOR program implements a rigorous evaluative test program which fosters the development of field relevant outdoor mobile robots. Autonomous ground vehicles are deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications bandwidth. Our efforts over the three year ...