Bayesian calibration of Vehicle-Terrain Interface algorithms for wheeled vehicles on loose sands |
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Institution: | 1. CNOOC Research Institute, Beijing, China;2. China University of Petroleum (Beijing), Beijing, China;1. Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China;2. Department of Computer Science and Software Engineering, Laval University, Canada;1. İzmir Institute of Technology (IZTECH), Electrical-Electronics Engineering, İzmir, Turkey;2. ISTI-CNR, via G. Moruzzi 1, 56124, Pisa, Italy |
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Abstract: | The Vehicle-Terrain Interface (VTI) model is commonly used to predict off-road mobility to support virtual prototyping. The Database Records for Off-road Vehicle Environments (DROVE), a recently developed database of tests conducted with wheeled vehicles operating on loose, dry sand, is used to calibrate three equations used within the VTI model: drawbar pull, traction, and motion resistance. A two-stage Bayesian calibration process using the Metropolis algorithm is implemented to improve the performance of the three equations through updating of their coefficients. Convergence of the Bayesian calibration process to a calibrated model is established through evaluation of two indicators of convergence. Improvements in root-mean square error (RMSE) are shown for all three equations: 17.7% for drawbar pull, 5.5% for traction, and 23.1% for motion resistance. Improvements are also seen in the coefficient of determination (R2) performance of the equations for drawbar pull, 2.8%, and motion resistance, 2.5%. Improvements are also demonstrated in the coefficient of determination for drawbar pull, 2.8%, and motion resistance, 2.5%, equations, while the calibrated traction equation performs similar to the VTI equation. A randomly selected test dataset of about 10% of the relevant observations from DROVE is used to validate the performance of each calibrated equation. |
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Keywords: | Off-road mobility Bayesian calibration Metropolis algorithm Sand Traction Motion resistance Database Records for Off-road Vehicle Environments (DROVE) |
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