Velocity Selection for High-Speed UGVs in Rough Unknown Terrains using Force Prediction

TL;DR

This paper introduces three novel force prediction methods to enable safer high-speed navigation of UGVs in unknown rough terrains by accurately estimating terrain-induced forces and optimizing velocity profiles.

Contribution

It proposes three new force prediction models that improve safety and effectiveness of high-speed UGV navigation in uncharted rough terrains.

Findings

The models accurately predict terrain forces at the contact point and transmitted to the vehicle frame.

The methods produce safer, more effective velocity profiles for high-speed traversal.

Experimental results demonstrate improved navigation safety in rough terrains.

Abstract

Enabling high speed navigation of Unmanned Ground Vehicles (UGVs) in unknown rough terrain where limited or no information is available in advance requires the assessment of terrain in front of the UGV. Attempts have been made to predict the forces the terrain exerts on the UGV for the purpose of determining the maximum allowable velocity for a given terrain. However, current methods produce overly aggressive velocity profiles which could damage the UGV. This paper presents three novel safer methods of force prediction that produce effective velocity profiles. Two models, Instantaneous Elevation Change Model (IECM) and Sinusoidal Base Excitation Model: using Excitation Force (SBEM:EF), predict the forces exerted by the terrain on the vehicle at the ground contact point, while another method, Sinusoidal Base Excitation Model: using Transmitted Force (SBEM:TF), predicts the forces transmitted to the vehicle frame by the suspension.