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Title: Dynamics modeling and robotic-assist, leader-follower control of tractor convoys
Authors: Cook, Joshua T.
Ray, Laura E.
Lever, J. H.
Keywords: Multi-body dynamics
Tracked vehicle
Leader-follower control
Publisher: Engineer Research and Development Center (U.S.)
Series/Report no.: Miscellaneous Paper (Engineer Research and Development Center (U.S.)) ; no. ERDC/CRREL MP-22-3
Is Version Of: Cook, Joshua T., Laura E. Ray, and James H. Lever. "Dynamics modeling and robotic-assist, leader-follower control of tractor convoys." Journal of Terramechanics 75 (2018): 57-72.
Abstract: This paper proposes a generalized dynamics model and a leader-follower control architecture for skid-steered tracked vehicles towing polar sleds. The model couples existing formulations in the literature for the powertrain components with the vehicle-terrain interaction to capture the salient features of terrain trafficability and predict the vehicles response. This coupling is essential for making realistic predictions of the vehicles traversing capabilities due to the power-load relationship at the engine output. The objective of the model is to capture adequate fidelity of the powertrain and off-road vehicle dynamics while minimizing the computational cost for model based design of leader-follower control algorithms. The leader-follower control architecture presented proposes maintaining a flexible formation by using a look-ahead technique along with a way point following strategy. Results simulate one leader-follower tractor pair where the leader is forced to take an abrupt turn and experiences large oscillations of its drawbar arm indicating potential payload instability. However, the follower tractor maintains the flexible formation but keeps its payload stable. This highlights the robustness of the proposed approach where the follower vehicle can reject errors in human leader driving.
Description: Miscellaneous Paper
Gov't Doc #: ERDC/CRREL MP-22-3
Rights: Approved for Public Release; Distribution is Unlimited
Size: 21 pages / 1.28 MB
Types of Materials: PDF/A
Appears in Collections:Miscellaneous Paper

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