Title: Fuzzy identification of uncertain ground parameters for autonomous mobile machines

Authors: Valentin Ivanov, Barys Shyrokau

Addresses: Automotive Engineering Department, Ilmenau University of Technology, Gustav-Kirchhoff – Platz 2, 98693 Ilmenau, Germany. ' Joint Institute of Mechanical Engineering, Academicheskaya 12, 200072 Minsk, Belarus

Abstract: One of the most crucial problems caused by the |Vehicle-Mover–Terrain| interaction lies in identification of friction and rolling parameters, as well as in interpretation of this information for on-board control systems. Simple analytical solutions are possible here in the case where a vehicle moves on a road. Otherwise, the uncertainty of the motion environment complicates the problem. Especially, this is true for autonomous vehicles and planetary rovers. The presented investigation discusses fuzzy method for the identification of wheel–surface interaction in conditions with different grades of uncertainty. Examples are considered for characteristics of surface and vehicle dynamics.

Keywords: fuzzy identification; soil; cohesion; friction parameters; vehicle control; autonomous vehicles; rolling parameters; planetary rovers; wheel–surface interaction; uncertainty; vehicle dynamics; surface dynamics; fuzzy logic; uncertain ground parameters.

DOI: 10.1504/IJVAS.2011.041386

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.3/4, pp.219 - 240

Received: 14 May 2009
Accepted: 26 Apr 2010

Published online: 21 Jul 2011 *

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