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Active Reconfiguration for Performance Enhancement in Articulated Wheeled Vehicles

[+] Author Affiliations
Aliakbar Alamdari, Venkat Krovi

SUNY at Buffalo, Buffalo, NY

Paper No. DSCC2014-6137, pp. V002T27A004; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME


Leg-wheel architectures for locomotion systems offer many advantages, not the least of which is reconfigurability of wheel-axle with respect to the chassis. Thus, locomotion systems with multiple leg-wheels now permit enormous reconfigurability of the chassis frame with respect to the ground frame. We seek to systematically exploit this ability to reconfigure within this highly-redundant system to enhance contact kinematics i.e., reducing the slippage and improving traction forces at wheel-ground interfaces. In addition, reconfiguration can also be used to mitigate undesirable system-level effects (such as judder) and lead to greatly improved estimation for navigation. In this paper, we examine a systematic analytical approach to the modeling, analysis and reconfiguration of articulated leg-wheel systems, to enhance both traction as well as stability-margin, while navigating over rough-terrains. The derivations will also be specialized to a particular example of an ultra-mobile actively-articulated vehicle to illustrate the developed procedure.

Copyright © 2014 by ASME
Topics: Vehicles



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