Dynamics model for mobility optimization and control of off-road tractor convoys

This paper presents a generalized vehicle model and leader-follower control architecture for an off-road, skid steered tracked vehicle. The modeling approach couples existing formulations in the literature for the powertrain components and the vehicle-terrain interaction to provide a comprehensive m...

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Bibliographic Details
Main Authors: Cook, Joshua T., Ray, Laura E., Lever, James H.
Format: Conference Proceeding
Language:English
Subjects:
Agricultural machinery
Electronics
Encounters
Engines
Mathematical model
Mathematical models
Predictive models
Risk
Terrain
Torque
Tractors
Trajectories
Vehicle dynamics
Vehicles
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Summary:This paper presents a generalized vehicle model and leader-follower control architecture for an off-road, skid steered tracked vehicle. The modeling approach couples existing formulations in the literature for the powertrain components and the vehicle-terrain interaction to provide a comprehensive model that captures the salient features of terrain trafficability and predicts the vehicle's response over snow. This coupling is essential for making realistic predictions of the vehicle's mobility capabilities due to the power-load relationship at the engine output. Simulation results show that over similar terrain, towing conditions, and inputs, neighboring trajectories of a leader-follower pair result, and controllers therefore need only to make small refinements to the control inputs. However, as the vehicles encounter different terrain and the risk of immobilization increases, an alternative control law is needed. Under these circumstances, the model can be used for short term trajectory prediction.
ISSN:2378-5861
DOI:10.1109/ACC.2016.7526755