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Dynamic Model of a Four-Wheel-Drive HMMWV

[+] Author Affiliations
Randy Sleight, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. DETC2004-57444, pp. 1183-1191; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


There is a need for HMMWV dynamic models for autonomous control of these vehicles. Currently, such four-wheel-drive vehicle models are unavailable. This paper derives the kinematics, dynamics and computation aspects of the problem. The subsystem models, e.g. tire, brake and powertrain, are presented as well. Our results show agreement with published simulations of the HMMWV. The current simulations in Mat-lab execute 30 times slower than real-time. Future work will implement this model in a planning algorithm for autonomous vehicle control.

Copyright © 2004 by ASME



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