Execution of dynamic maneuvers for unmanned ground vehicles using variable internal inertial properties

  • Authors:

  • Chenghui Nie;Simo Cusi Van Dooren;Jainam Shah;Matthew Spenko

  • Affiliations:

  • Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology;Illinois Institute of Technology;Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology;Faculty of the Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

An Unmanned Ground Vehicle (UGV) capable of executing controlled sliding and sharp turns without a significant decrease in velocity would have superior utility in field operations compared to a standard UGV. Such a vehicle would be better able to maneuver in tight corridors, avoid obstacles detected at short range, and minimize its time in dangerous situations. This paper presents theoretical analysis and experimental results of a UGV executing extreme dynamic maneuvers by altering its internal mass and inertial properties during locomotion. The behaviors are accomplished by shifting the location of the UGV's center of mass while executing a turn. This modifies the normal force acting on the wheels, which in turn modifies their maximum lateral traction forces.