Review of terramechanics models and their applicability to real-time applications |
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| Institution: | 1. Terramechanics, Multibody, and Vehicle Systems (TMVS) Laboratory, Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, United States;2. Vehicle Dynamics Group (VDG), Department of Mechanical and Aeronautical Engineering, University of Pretoria, Pretoria 0002, South Africa;1. Umeå University, SE-90187 Umeå, Sweden;2. Swedish University of Agricultural Sciences, SE-90183 Umeå, Sweden;1. Terramechanics, Multibody, and Vehicle Systems (TMVS) Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, United States;2. U. S. Army Engineer Research and Development Center, Vicksburg, MS 39180-6199, United States;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. Department of Aerospace Engineering, Ryerson University, Toronto, Ontario M5B 2K3, Canada;1. Advanced Science and Automation Corp. 9714 Oakhaven Ct., Indianapolis, IN 46256-8101, USA;2. US Army DEVCOM Ground Vehicle Systems Center (GVSC), 6501 E. 11 Mile Road, MS 157, Bldg. 215, FCDD-GVR-MSS, Warren, MI 48397-5000, USA;1. Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, ON L1H 7K4, Canada;2. Volvo Group Trucks Technology, Vehicle Analysis Dept. BF72920, Göteborg AB4S 405 08, Sweden;1. U.S. Army TARDEC, Warren, MI, USA;2. Massachusetts Institute of Technology, Cambridge, MA, USA |
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| Abstract: | ISTVS embarked on a project in 2016 that aims at updating the current ISTVS standards related to nomenclature, definitions, and measurement techniques for modelling, parameterizing, and, respectively, testing and validation of soft soil parameters and vehicle running gear-terrain interaction. As part of this project, a comprehensive literature review was conducted on the parameterization of fundamental terramechanics models. Soil parameters of the empirical models to assess off-road vehicle mobility, and parameters of the models to characterize the response of the terrain interacting with running gears or plates from the existing terramechanics literature and other researchers’ reports were identified. This review documents and summarizes the modelling approaches that may be applicable to real-time applications of terramechanics in simulation, as well as in controller design. |
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| Keywords: | Soil modeling Pressure-sinkage models Shear stress-displacement models Vibration models ISTVS standards Terramechanics Off-road vehicle dynamics |
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