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19 May 2005 Using modeling and simulation to evaluate stability and traction performance of a track-laying robotic vehicle
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DOD has been involved in the research, development and acquisition of unmanned ground vehicle systems to support the troops in the field while minimizing the risks associated with supplying these troops. Engineers and scientists at TARDEC are using computer based modeling and simulation (M&S) to investigate how modifications to unmanned ground vehicles impact their mobility and stability, and to predict performance levels attainable for these types of vehicle systems. The objective of this paper will be to describe the computerbased modeling, simulation, and limited field testing effort that has been undertaken to investigate the dynamic performance of an unmanned tracked vehicle system while conducting a full matrix of tests designed to evaluate system shock, vibration, dynamic stability and off road mobility characteristics. In this paper we will describe the multi-body modeling methodology used as well as the characteristic data incorporated to define the models and their subsystems. The analysis undertaken is applying M&S to baseline the dynamic performance of the vehicle, and comparing these results with performance levels recorded for several manned vehicle systems. We will identify the virtual test matrix over which we executed the models. Finally we will describe our efforts to visualize our findings through the use of computer generated animations of the vehicle system negotiating various virtual automotive tests making up the test matrix.
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D. D. Gunter, W. W. Bylsma, K. Edgar, M. D. Letherwood, and D. J. Gorsich "Using modeling and simulation to evaluate stability and traction performance of a track-laying robotic vehicle", Proc. SPIE 5805, Enabling Technologies for Simulation Science IX, (19 May 2005);

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