Review of terramechanics models and their applicability to real-time applications
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Date
Authors
He, Rui
Sandu, Corina
Khan, Aamir K.
Guthrie, A. Glenn
Els, Pieter Schalk
Hamersma, Herman Adendorff
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier
Abstract
ISTVS embarked on a project in 2016 that aims at updating the current ISTVS standards related to nomenclature, definitions, and measurement techniques for modelling, parameterizing, and, respectively, testing and validation of soft soil parameters and vehicle running gear-terrain interaction. As part of this project, a comprehensive literature review was conducted on the parameterization of fundamental terramechanics models. Soil parameters of the empirical models to assess off-road vehicle mobility, and parameters of the models to characterize the response of the terrain interacting with running gears or plates from the existing terramechanics literature and other researchers’ reports were identified. This review documents and summarizes the modelling approaches that may be applicable to real-time applications of terramechanics in simulation, as well as in controller design.
Description
Keywords
International Society of Terrain-Vehicle Systems (ISTVS), Soil modeling, Pressure-sinkage models, Shear stress-displacement models, Vibration models, ISTVS standards, Terramechanics, Off-road vehicle dynamics, Parameter estimation, Real-time application, Measurement techniques, Controller designs, Vibrations (mechanical), Soils, Soil testing, Shear stress
Sustainable Development Goals
Citation
He, R., Sandu, C., Khan, A.K. et al. 2019, 'Review of terramechanics models and their applicability to real-time applications', Journal of Terramechanics, vol. 81, pp. 3-22.