Matches in SemOpenAlex for { <https://semopenalex.org/work/W4226403005> ?p ?o ?g. }
Showing items 1 to 67 of
67
with 100 items per page.
- W4226403005 abstract "Offroad vehicle movement has to contend with uneven and uncertain terrain which present challenges to path planning and motion control for both manned and unmanned ground vehicles. Knowledge of terrain properties can allow a vehicle to adapt its control and motion planning algorithms. Terrain properties, however, can change on time scales of days or even hours, necessitating their online estimation. The kinematics and, in particular the oscillations experienced by an offroad vehicle carry a signature of the terrain properties. These terrain properties can thus be estimated from proprioceptive sensing of the vehicle dynamics with an appropriate model and estimation algorithm. In this paper, we show that knowledge of the vertical dynamics of a vehicle due to its suspension can enable faster and more accurate estimation of terrain parameters. The paper considers a five degree of freedom model that combines the well known half-car and bicycle models. We show through simulation that the sinkage exponent, a parameter that can significantly influence the wheel forces from the terrain and thus greatly impact the vehicle trajectory, can be estimated from measurements of the vehicle's linear acceleration and rotational velocity, which can be readily obtained from an onboard IMU. We show that modelling the vertical vehicle dynamics can lead to significant improvement in both the estimation of terrain parameters and the prediction of the vehicle trajectory." @default.
- W4226403005 created "2022-05-05" @default.
- W4226403005 creator A5077608564 @default.
- W4226403005 creator A5079777763 @default.
- W4226403005 date "2022-02-09" @default.
- W4226403005 modified "2023-09-24" @default.
- W4226403005 title "Terrain parameter estimation from proprioceptive sensing of the suspension dynamics in offroad vehicles" @default.
- W4226403005 doi "https://doi.org/10.48550/arxiv.2202.04727" @default.
- W4226403005 hasPublicationYear "2022" @default.
- W4226403005 type Work @default.
- W4226403005 citedByCount "0" @default.
- W4226403005 crossrefType "posted-content" @default.
- W4226403005 hasAuthorship W4226403005A5077608564 @default.
- W4226403005 hasAuthorship W4226403005A5079777763 @default.
- W4226403005 hasBestOaLocation W42264030051 @default.
- W4226403005 hasConcept C117896860 @default.
- W4226403005 hasConcept C121332964 @default.
- W4226403005 hasConcept C127413603 @default.
- W4226403005 hasConcept C1276947 @default.
- W4226403005 hasConcept C13662910 @default.
- W4226403005 hasConcept C146978453 @default.
- W4226403005 hasConcept C154945302 @default.
- W4226403005 hasConcept C161840515 @default.
- W4226403005 hasConcept C205649164 @default.
- W4226403005 hasConcept C2775924081 @default.
- W4226403005 hasConcept C39920418 @default.
- W4226403005 hasConcept C41008148 @default.
- W4226403005 hasConcept C44154836 @default.
- W4226403005 hasConcept C47446073 @default.
- W4226403005 hasConcept C58640448 @default.
- W4226403005 hasConcept C74650414 @default.
- W4226403005 hasConcept C79061980 @default.
- W4226403005 hasConcept C79487989 @default.
- W4226403005 hasConceptScore W4226403005C117896860 @default.
- W4226403005 hasConceptScore W4226403005C121332964 @default.
- W4226403005 hasConceptScore W4226403005C127413603 @default.
- W4226403005 hasConceptScore W4226403005C1276947 @default.
- W4226403005 hasConceptScore W4226403005C13662910 @default.
- W4226403005 hasConceptScore W4226403005C146978453 @default.
- W4226403005 hasConceptScore W4226403005C154945302 @default.
- W4226403005 hasConceptScore W4226403005C161840515 @default.
- W4226403005 hasConceptScore W4226403005C205649164 @default.
- W4226403005 hasConceptScore W4226403005C2775924081 @default.
- W4226403005 hasConceptScore W4226403005C39920418 @default.
- W4226403005 hasConceptScore W4226403005C41008148 @default.
- W4226403005 hasConceptScore W4226403005C44154836 @default.
- W4226403005 hasConceptScore W4226403005C47446073 @default.
- W4226403005 hasConceptScore W4226403005C58640448 @default.
- W4226403005 hasConceptScore W4226403005C74650414 @default.
- W4226403005 hasConceptScore W4226403005C79061980 @default.
- W4226403005 hasConceptScore W4226403005C79487989 @default.
- W4226403005 hasLocation W42264030051 @default.
- W4226403005 hasOpenAccess W4226403005 @default.
- W4226403005 hasPrimaryLocation W42264030051 @default.
- W4226403005 hasRelatedWork W10078518 @default.
- W4226403005 hasRelatedWork W10680154 @default.
- W4226403005 hasRelatedWork W11097835 @default.
- W4226403005 hasRelatedWork W11234935 @default.
- W4226403005 hasRelatedWork W13396941 @default.
- W4226403005 hasRelatedWork W14915495 @default.
- W4226403005 hasRelatedWork W20342 @default.
- W4226403005 hasRelatedWork W4358642 @default.
- W4226403005 hasRelatedWork W5976727 @default.
- W4226403005 hasRelatedWork W5993581 @default.
- W4226403005 isParatext "false" @default.
- W4226403005 isRetracted "false" @default.
- W4226403005 workType "article" @default.