30 April 2009 Increasing agility in unmanned ground vehicles using variable internal mass and inertial properties
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Abstract
Unmanned Ground Vehicles (UGV) that possess agility, or the ability to quickly change directions without a significant loss in speed, would have several advantages in field operations over conventional UGVs. The agile UGVs would have greater maneuverability in cluttered environments and improved obstacle avoidance capabilities. The UGVs would also be able to better recover from unwanted dynamic behaviors. This paper presents a novel method of increasing UGV agility by actively altering the location of the vehicle's center of mass during locomotion. This allows the vehicle to execute extreme dynamic maneuvers by controlling the normal force acting on the wheels. A theoretical basis for this phenomenon is presented and experimental results are shown that validate the approach.
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Chenghui Nie, Chenghui Nie, Simo Cusi Van Dooren, Simo Cusi Van Dooren, Jainam Shah, Jainam Shah, Matthew Spenko, Matthew Spenko, } "Increasing agility in unmanned ground vehicles using variable internal mass and inertial properties", Proc. SPIE 7332, Unmanned Systems Technology XI, 733218 (30 April 2009); doi: 10.1117/12.818800; https://doi.org/10.1117/12.818800
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