Dynamic stability of off-road vehicles: Quasi-3D analysis

Moshe Mann, Zvi Shiller

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

This paper presents a method to determine the stability of off-road vehicles moving on rough terrain. The measures of stability are defined as the maximum speed and acceleration under which the vehicle does not slide or tip over. To compute these stability measures, we propose a quasi 3D analysis by decomposing the vehicle dynamics into three separate planes: the yaw, pitch, and roll planes. In each plane, we compute the set of admissible speeds and acceleration for the planar vehicle model, contact model, and ground force constraints. The intersection of the admissible sets provides the total range of feasible speeds and accelerations along the vehicle's path, from which we obtain the stability margins. Numerical results for a vehicle traversing a simulated terrain demonstrate the effectiveness of the approach.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2301-2306
Number of pages6
DOIs
StatePublished - 18 Sep 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 19 May 200823 May 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA
Period19/05/0823/05/08

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Dynamic stability of off-road vehicles: Quasi-3D analysis'. Together they form a unique fingerprint.

Cite this