Fast algorithm for UGV wheel-terrain interaction analysis

Tran, TH; Ha, QP

Fast algorithm for UGV wheel-terrain interaction analysis

Tran, TH Ha, QP

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Publication Type:: Conference Proceeding
Citation:: 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, pp. 674 - 680
Issue Date:: 2008-12-01

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Field	Value	Language
dc.contributor.author	Tran, TH	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2008-12-01	en_US
dc.identifier.citation	2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, pp. 674 - 680	en_US
dc.identifier.isbn	9781424422876	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11076
dc.description.abstract	On-line prediction of unmanned ground vehicle (UGV) behaviour during interactions with terrain is essential for autonomous and safe operations of skid-steering UGVs. This paper presents a fast and accurate algorithm for a new interaction model to predict performance of a UGV running on a particular terrain. By approximating nonlinear relations involved in the interaction between the vehicle and terrain, a closed form of the interaction model is obtained to enable on-line computation. The minimum absolute error criteria are applied to secure accuracy for the proposed method. The development is compared with the other models in terms of both computation speed and accuracy. © 2008 IEEE.	en_US
dc.relation.ispartof	2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008	en_US
dc.relation.isbasedon	10.1109/ICARCV.2008.4795598	en_US
dc.title	Fast algorithm for UGV wheel-terrain interaction analysis	en_US
dc.type	Conference Proceeding
utslib.for	0909 Geomatic Engineering	en_US
dc.location.activity	Hanoi, Vietnam	en_US
dc.location.activity	Hanoi, VIETNAM
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

On-line prediction of unmanned ground vehicle (UGV) behaviour during interactions with terrain is essential for autonomous and safe operations of skid-steering UGVs. This paper presents a fast and accurate algorithm for a new interaction model to predict performance of a UGV running on a particular terrain. By approximating nonlinear relations involved in the interaction between the vehicle and terrain, a closed form of the interaction model is obtained to enable on-line computation. The minimum absolute error criteria are applied to secure accuracy for the proposed method. The development is compared with the other models in terms of both computation speed and accuracy. © 2008 IEEE.

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http://hdl.handle.net/10453/11076