Dynamic Operational Limits for a Stair-Climbing, Tracked, Urban Robot

Brant A. Ross, World Congress and Exposition Military Vehicle Modeling and Simulation Session, April 2006, 8 pages.

• Abstract

  There is substantial interest in the development of man-portable unmanned guided vehicles (UGVs) to perform surveillance in urban environments. Many studies have been done on the control logic needed to guide the vehicles in autonomous and semi-autonomous modes. Less work has been done to assess the effectiveness of the controlled inputs on mobility performance.

  How Multibody Dynamics Simulation Technology is Used

  A detailed model of a tracked robot was developed and simulated using RecurDyn. The dynamic limitations of the robot when climbing stairs were identified for two extremes of driving torque. A basic controller was designed within RecurDyn which could adjust the driving torque to maintain stability. RecurDyn simulations provided a way for this design to be accomplished in a time efficient manner.

  Get This Paper

  • http://papers.sae.org/2006-01-0930/

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