Traditional ground vehicle architectures comprise of a chassis connected via passive, semi-active, or active suspension systems to multiple ground wheels. Current design-optimizations of vehicle architectures for on-road applications have diminished their mobility and maneuverability in off-road settings. Autonomous Ground Vehicles (AGV) traversing off-road environments face numerous challenges concerning terrain roughness, soil hardness, uneven obstacle-filled terrain, and varying traction conditions. Numerous Active Articulated-Wheeled (AAW) vehicle architectures have emerged to permit AGVs to adapt to variable terrain conditions in various off-road application arenas (off-road, construction, mining, and space robotics). However, a comprehensive framework of AAW platforms for exploring various facets of system architecture/design, analysis (kinematics/dynamics), and control (motions/forces) remains challenging. While current literature on the AAW system incorporates modeling and control from the legged and wheeled-legged robots community, it lacks a systematic process of architecture selection and motion control that should be developed around critical quantifiable performance parameters. This paper will: (i) analyze a broad body of literature; and (ii) identify modeling and control techniques that can enable the efficient development of AAW platforms. We then analyze key performance measures with respect to traversability, maneuverability, and terrainability, along with an experimental simulation of an AAW vehicle traversing over uneven terrain and how active articulation could achieve some of the critical performance measures. Against the performance parameters, gaps within the existing literature and opportunities for further research are identified to potentially enhance AAW platforms’ performance.
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Off-Road Construction and Agricultural Equipment Electrification: Review, Challenges, and Opportunities
Though the current wave of electric vehicles is transforming the on-road passenger and commercial vehicle fleets, similar attempts in the off-road equipment sector appear to be lacking. Because of the diverse equipment categories and varied applications, electrifying off-road equipment requires significant research and development. A successful electrification of such equipment can offer an array of benefits, including reduced air and noise pollution, higher energy efficiency, and increased productivity. This paper provides a review of the current state of technology in off-road equipment electrification, with a focus on the equipment used in construction and agricultural applications. The paper also discusses advantages of, and challenges associated with, electrifying off-road construction and agricultural equipment. In addition, potential solutions for overcoming these challenges as well as opportunities to facilitate the electrification of off-road construction and agricultural equipment are identified.
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- Award ID(s):
- 2152258
- PAR ID:
- 10426994
- Date Published:
- Journal Name:
- Vehicles
- Volume:
- 4
- Issue:
- 3
- ISSN:
- 2624-8921
- Page Range / eLocation ID:
- 780 to 807
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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