Push-pull locomotion for vehicle extrication
Push-pull locomotion for vehicle extrication
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DOI：
10.1016/j.jterra.2014.12.001
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发表时间：
2015-02-01
影响因子：
2.4
通讯作者：
Skonieczny, Krzysztof
中科院分区：
文献类型：
--
作者：
Creager, Colin;Johnson, Kyle;Skonieczny, Krzysztof
对于无人驾驶车辆必须穿越陌生地形的应用，往往存在车辆被困的风险。通常，这种风险可以通过使用评估地形的车载传感器反馈来降低。这项工作解决了车辆已经无法移动或无法使用常规滚动穿越所需路线的情况。具体来说，重点是在高下沉颗粒材料中使用推拉运动。推拉运动是另一种运动方式，通过铰接运动产生推力，使用车辆部件作为锚来推动或拉动。以往的研究表明，推拉运动比滚动运动产生更高的净牵引力，一种独特的光流技术表明，这是一种更有效的土体剪切方法的结果。现在已经发现，与滚动相比，推拉运动在高下沉材料中导致更少的下沉，更低的行程减少和更好的动力效率。即使从“被困”状态出发，推挽运动也能使试验车辆脱离困境。作者建议，推拉运动被认为是一种可靠的后备旅行模式，适用于有可能被地形困住的应用。由Elsevier Ltd.代表ISTVS出版。
For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push pull locomotion in high sinkage granular material. Push pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that push pull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility. Published by Elsevier Ltd. on behalf of ISTVS.