This report describes the implementation and field testing of a Teleoperation Control System (TCS) which allows a remote operator to control a heavy-duty tracked vehicle operating in an off-road environment. Issues arising from the use of the system during acceptance tests and mission evaluations are addressed.

This paper introduces an originally designed tracked robot. This robot belongs to the VGSTV (Variable Geometry Single Tracked Vehicle) category. It is equipped with two tracks mounted on an actuated chassis. The first joint is used to articulate the chassis and the second one to keep the tracks tightened. By controlling the chassis joint it becomes possible to adapt the shape of the tracks to t...

The U.S. Army Corps of Engineers is developing a capability to simulate seismic signatures of moving armored vehicles. To generate vehicle specific signatures, these high-fidelity simulations require vehicle-generated forces acting on the earth’s surface at the vehicle. We present a description of customized enhancements to commercially available dynamic analysis software known as DADS (Dynamic...

The optimal sizing and control of a hybrid tracked vehicle is presented and solved in this paper. A driving schedule obtained from field tests is used to represent typical tracked vehicle operations. Dynamics of the diesel engine-permanent magnetic AC synchronous generator set, the lithium-ion battery pack, and the power split between them are modeled and validated through experiments. Two coup...