Coordination of an Unmanned Vehicle with Active Suspension over Extreme Terrain

Waldron, KJ; Abdallah, M

Coordination of an Unmanned Vehicle with Active Suspension over Extreme Terrain

Waldron, KJ

Abdallah, M

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Publication Type:: Conference Proceeding
Citation:: Proceedings of SPIE - The International Society for Optical Engineering, 2003, 5083 pp. 371 - 379
Issue Date:: 2003-12-01

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Field	Value	Language
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.contributor.author	Abdallah, M	en_US
dc.date.issued	2003-12-01	en_US
dc.identifier.citation	Proceedings of SPIE - The International Society for Optical Engineering, 2003, 5083 pp. 371 - 379	en_US
dc.identifier.issn	0277-786X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11966
dc.description.abstract	Active suspension is now a well-tried technology in road vehicles. It has been installed on a HMMV and demonstrated to significantly improve performance in rough road conditions1. This capability presents an opportunity for improved mobility in off-road conditions. The challenge is to devise a means of translating the desired trajectory of the vehicle into commands to the suspension actuators and the traction motors in an optimal, or near optimal manner. In this paper we describe part of a software architecture that was developed to enable such performance from a six-wheeled vehicle with active suspension and independent wheel drives. The vehicle was a concept developed under the DARPA Unmanned Ground Combat Vehicle Program.	en_US
dc.relation.ispartof	Proceedings of SPIE - The International Society for Optical Engineering	en_US
dc.relation.isbasedon	10.1117/12.501374	en_US
dc.title	Coordination of an Unmanned Vehicle with Active Suspension over Extreme Terrain	en_US
dc.type	Conference Proceeding
utslib.citation.volume	5083	en_US
utslib.for	091399 Mechanical Engineering not elsewhere classified	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091302 Automation and Control Engineering	en_US
dc.location.activity	Orlando, USA	en_US
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
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	5083	en_US

Abstract:

Active suspension is now a well-tried technology in road vehicles. It has been installed on a HMMV and demonstrated to significantly improve performance in rough road conditions1. This capability presents an opportunity for improved mobility in off-road conditions. The challenge is to devise a means of translating the desired trajectory of the vehicle into commands to the suspension actuators and the traction motors in an optimal, or near optimal manner. In this paper we describe part of a software architecture that was developed to enable such performance from a six-wheeled vehicle with active suspension and independent wheel drives. The vehicle was a concept developed under the DARPA Unmanned Ground Combat Vehicle Program.

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http://hdl.handle.net/10453/11966