UAV-based three-dimensional rough terrain modelling

Abstract

Accurate modelling of the interaction between a tyre and the terrain is crucial for successful vehicle dynamics simulation, particularly in challenging off-road conditions. This study introduces a novel approach for obtaining accurate 3D terrain models for vehicle simulation. An unmanned aerial vehicle (UAV) was used to develop three-dimensional terrain models of a various test tracks. These models were compared with measurements obtained from a traditional road profilometer. Excellent correlation between the two measurement approaches is found. The advantages of the UAV method lie in its speed without compromising accuracy and that measurements are immune to the terrain roughness. In contrast to the labour-intensive measurements required by a mechanical road profilometer and subsequent post-processing, the UAV approach requires minimal time and effort. The UAV method is not coupled to the terrain roughness, thus eliminating the drift associated with other ground-based approaches. The UAV method is insensitive to terrain deformation. This opens the door to modelling very rough and even deformable terrains and using these models for vehicle dynamics simulations in extreme off-road environments. Data analysis is prone to many potential pitfalls which can result in highly inaccurate results that are difficult to detect unless a reliable baseline is available for comparison.