Sharma, P. and Dahiwade, P., "Vehicle Performance of Mini Tracked UGVs for Different Terrains Using Off-Road Vehicle Engineering Techniques," SAE Technical Paper 2015-26-0144, 2015, doi:10.4271/2015-26-0144.
This paper discusses the off-road performance prediction of military application mini UGVs using terramechanics work deals with the development of performance simulation model for mini UGV in the Matlab/Simulink Software. Transient forward vehicle propulsion model and soil terrain interaction model have been built in the Simulink® software. It is a semi-empirical mobility model which predicts mini UGV performance on given terrain. The interaction between vehicle and the terrain causes resistances to vehicle propulsion. The model calculates these resistances, compares them to both the power limitations of the vehicle and the tractive limitations of the soil/terrain, to determine if the vehicle is immobilized. If not, then the vehicle speed is calculated based on available drawbar pull.The terrain is defined in terms of the soil parameters measured by the Bevameter. Semi-empirical equations suggested by Bekker have been used to model the soil terrain interaction. The model requires the input data of vehicle subsystem such as electric motor, transmission, running gear, and soil parameter. The model predicts the performance of the vehicle in terms of vehicle velocity; soil and vehicle limited drawbar pull, motion resistance and available tractive effort. Performance of mini UGV has been analyzed for various configuration of mini UGV such as on main track, flipper track and combination of both. The validation of the model has been carried out by experimentally measuring the vehicle performance.