Journal of Terramechanics最新文献

This study proposes a quick and reliable method for estimating the soil thrust in clay ground for a tracked vehicle based on limit analysis in three-dimensional conditions. With respect to the shape and location of failure surfaces in clayey ground, block, triangular wedge, and trapezoidal wedge failure modes were considered. Between the upper-bound solutions from the different failure modes, the least upper-bound solution was proposed as the soil thrust. To verify the proposed solution, it was compared to the model test and numerical simulations for a track system over model clay ground. The proposed upper-bound solution is expected to produce a reliable soil thrust quickly in real time, especially for submerged heavy-weight remotely operated vehicles (ROVs).

Obstacle detection is a complex task involving detection of obstacle features, identification of appropriate sensor and environmental conditions. The development of water hazard detection in the past two decades can be regarded as a microcosm of the history of typical obstacle detection. This review provides an extensive study of water hazard detection papers spanning a quarter-century (the 1990 s to 2021). The review mainly focuses on the width of water hazards, features of water hazards, sensor types for the detection of water hazards, and environmental light. This paper analyses and summarizes the research overview and status of some research institutions in the field over the past 20 years, hoping to provide some reference for UGV water hazard detection. In addition, the existing water hazard detection problems are summarized, and future development trends are proposed.

This paper provides a review of path tracking strategies used in autonomous vehicle control design. Several elements of modelling process and path tracking control are examined, including the vehicle model implemented, the path tracking control algorithms used, and the criteria for evaluating the controller's performance. Path tracking control is classified into several forms based on its methodology and linearity. Vehicle models are grouped into numerous types based on the linearity and the intended behaviour to be observed. This study explores each of these strategy in terms of the applicability and disadvantages/advantages. The main challenges in the field of path tracking control are defined and future research directions are offered based on the critical reviews. Based on the entire review, a model-based controller based on a linear vehicle model and assessed with hardware-in-the-loop (HIL) is suggested. This review is aimed to serve as a starting point for determining which controllers to use in path tracking control development for an autonomous tracked vehicle.

Snow traction is a key performance characteristic for tire design. Designing snow tires requires extensive testing on snow-covered proving grounds. Thus, numerical simulation could be a more efficient and less costly method of improving tire designs. Various numerical approaches, such as analytical methods, grid-based methods, and particle-based methods were employed for compacted snow modeling in literature. Analytical models of compacted snow were developed based on various assumptions about snow mechanics and tire-snow interaction. With increasing the computational power, grid-based methods (especially Arbitrary Lagrangian Eulerian method) showed to provide effective modeling of complex tire-snow interaction behavior. However, these approaches showed some limitations in modelling large and discontinuous deformation problems associated with tire-snow interaction. Therefore, recently, the use of particle-based methods, which overcome these limitations, has recently sparked interest in tire-snow modeling. The numerical studies related to the modeling tire-snow interaction are briefly reviewed in this paper. Furthermore, various constitutive snow material models and different failure theories used in literature, which are essential for numerical tire-compacted snow simulations, are also reviewed. Overall, this review paper could be useful for researchers interested in modeling the tire – snow interactions and even tire-deformable soil interaction.