The design and development of unmanned tracked vehicles have received a lot of attention in the recent past, considering their wide application in many scenarios. In this paper, the development of a generic mathematical model for an unmanned, off-road tracked vehicle in tele-operation and its simulation are presented. The tele-operation system model is presented along with the planar motion dynamics of the tracked vehicle. Vehicle motion dynamics is subdivided into longitudinal motion and angular motion dynamics, which are again subdivided into acceleration, braking, and yaw motion dynamics. The prime mover was modeled using an engine-map, which was generated using real-time data from an experimental vehicle. Simulation studies have shown that the model can be effectively used for designing better tele-operation strategies for off-road tracked vehicles. © 2015 ACM.

Thondiyath Asokan

Department of Engineering Design

Shankar Coimbatore Subramanian

Dynamics

Roads and streets

Robotics

TRACKED VEHICLES

Vehicles

ANGULAR MOTIONS

Design and Development

EXPERIMENTAL VEHICLE

Longitudinal motion

Model and simulation

Simulation studies

TELEOPERATION SYSTEMS

YAW MOTIONS

Off road vehicles

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

Tele-operation of unmanned tracked vehicles: modeling and simulation of planar motion dynamics

ACM International Conference Proceeding Series

In recent years virtual dynamic system simulation has become very important in the design and development stage, as new strategies can be examined without expensive measurements and with reduced time. This paper describes the development of a simulation model for transient analysis of the longitudinal dynamics of a heavy tracked vehicle. The driving inputs for this simulation model are obtained from a powertrain model. The main elements of the powertrain include the engine, Torque Converter (TC), transmission and drivetrain. Here the engine is modeled based on the engine maps from steady-state experiments. The TC is modeled based on its characteristic map from experiments. A fairly simple transmission model is used which is based on static gear ratios assuming small shift times. The final drivetrain model however includes the rotational dynamics of the sprocket. The simulation model developed is validated by comparing the predicted values with the measured data from experiments. The results have demonstrated that the developed model is able to predict fairly accurately the acceleration and braking performance of the heavy tracked vehicle on both soft and hard terrain. © 2011 ISTVS. Published by Elsevier Ltd. All rights reserved.

Journal of Terramechanics

Longitudinal dynamics of a tracked vehicle: Simulation and experiment

Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics

A System Design for Teleoperated Road Vehicles

Driveline Systems of Ground Vehicles

Testing of Driveline Systems and Multiwheel Drive Vehicles

2007 IEEE/ASME international conference on advanced intelligent mechatronics

Development of an Unmanned Ground Vehicle for task-oriented operation - considerations on teleoperation and delay

Autonomous Robots

10.1023/a:1011295826834

Tele-operation of unmanned tracked vehicles: Modeling and simulation of planar motion dynamics

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Publisher	Data powered by TypesetAssociation for Computing Machinery
Open Access	No