Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems

The article explored the potential for enhancing the off-road mobility of unmanned ground vehicles (UGV) equipped with a hydrostatic drive system. The analysis showed that effectively overcoming rough or soft terrain demands a slip limitation. In the UGVs with hydrostatic drives, flow dividers are u...

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Bibliographic Details
Published in:Energies (Basel) 2023-10, Vol.16 (19), p.6938
Main Authors: Łopatka, Marian Janusz, Cieślik, Karol, Krogul, Piotr, Muszyński, Tomasz, Przybysz, Mirosław, Rubiec, Arkadiusz, Spadło, Kacper
Format: Article
Language:English
Subjects:
Control algorithms
Control systems
Efficiency
Energy consumption
Flexibility
Hydraulics
hydrostatic drive system
Kinematics
Mathematical functions
Simulation
Simulation methods
slip control system
terrain mobility
UGV
Vehicles
Wheels
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Summary:The article explored the potential for enhancing the off-road mobility of unmanned ground vehicles (UGV) equipped with a hydrostatic drive system. The analysis showed that effectively overcoming rough or soft terrain demands a slip limitation. In the UGVs with hydrostatic drives, flow dividers are used for this purpose. Unfortunately, they have certain drawbacks, such as reduced efficiency due to pressure losses. In order to minimize this phenomenon, an external braking system was used as a new slip control system. Therefore, simulation studies were carried out to assess the new slip control system while overcoming terrain obstacles due to the reduction of energy consumption and improving the mobility of the UGV.
ISSN:1996-1073
1996-1073
DOI:10.3390/en16196938