Override forces through clumps of small vegetation

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2024-06-12 DOI:10.1016/j.jterra.2024.100988
Marc N. Moore , Christopher Goodin , Ethan Salmon , Michael P. Cole , Paramsothy Jayakumar , Brittney English
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Abstract

Vegetation override is an important aspect of off-road ground vehicle mobility. For autonomous ground vehicles (AGV), path-planning in off-road environments may be informed by the predicted resistance of vegetation in the navigation environment. However, there are no prior measurements on the override resistance of small stems (<2.5 cm) and groups of small stems on medium-sized (1000 kg) vehicles. In this work, a series of override measurements for clumps of small vegetation that are relevant for off-road navigation by intermediate-sized AGV is presented. The development and calibration of a custom-made pushbar system with integrated load cells for directly measuring override forces is also presented, and a comparison of the results of the experiments to models developed for override of larger single stems is made. It is found that for clumps of small vegetation, the total override force is best predicted by the diameter of the largest stem in the clump. Additionally, it is found that the equations developed for larger stems under-predict the override forces exerted by smaller stems by about a factor of two.

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通过小植被丛覆盖力量
植被覆盖是越野地面车辆机动性的一个重要方面。对于自动地面车辆(AGV)来说,在非道路环境中进行路径规划时,可参考导航环境中植被的预测阻力。然而,对于中型(≈1000 千克)车辆上的小茎(<2.5 厘米)和小茎群的越障阻力,目前还没有事先的测量结果。在这项工作中,对与中型 AGV 越野导航相关的小植被丛进行了一系列越障测量。此外,还介绍了定制推杆系统的开发和校准情况,该系统带有集成称重传感器,可直接测量超载力,并将实验结果与为较大单茎超载而开发的模型进行了比较。实验发现,对于小型植被丛,丛中最大茎干直径对总推覆力的预测最为准确。此外,还发现为较大茎开发的方程对较小茎施加的推覆力的预测不足约 2 倍。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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