The currently undertaken study is to design an advanced wheel-leg system that provides optimal normal and traction force distributions among the drive wheels and improves vehicle dynamics/performance and provides mission fulfilment of an autonomous vehicle. This paper is a part of that study and deals with mathematical modelling initially of a wheel for both direct and oblique travel over an obstacle and proposes an analytical tool for (i) determining the obstacle height the wheel can overcome based on wheel-terrain-obstacle interaction, (ii) choosing the wheel radius to overcome the obstacle of given size, and later on the work is extended for (iii) determining the leg force in a wheel-leg combination, (iv) researching and proving a power mode of the wheel that has the ability to overcome the obstacle in a larger range for given wheel-terrain parameters and finally (v) determining the wheel torque in a bicycle model of a wheel-leg vehicle which can be incorporated in the control strategy for the distribution of wheel (motor) torque of an autonomous vehicle for its improved mobility.


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    Title :

    Wheel-terrain-obstacle interaction in vehicle mobility analysis


    Contributors:

    Published in:

    Vehicle System Dynamics ; 48 , sup1 ; 139-156


    Publication date :

    2010-12-01


    Size :

    18 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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