Traversability Prediction for Unmanned Ground Vehicles Based on Identified Soil Parameters
نویسندگان
چکیده
A novel technique for identifying soil parameters on-line while traversing with a tracked vehicle on unknown terrain is presented. This technique, based on the Newton Raphson method is used to identify unknown soil parameters. Comparing with the Least Square method, it shows that the Newton Raphson method is better in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. For heavy tracked vehicle, cohesion has negligible effect on the vehicle performance. These identified soil parameters are then employed for traversability prediction for a tracked vehicle travelling on unknown terrain. Copyright © 2005 IFAC
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