Full Content is available to subscribers

Subscribe/Learn More  >
Proceedings Article

Increasing agility in unmanned ground vehicles using variable internal mass and inertial properties

[+] Author Affiliations
Chenghui Nie, Simo Cusi Van Dooren, Jainam Shah, Matthew Spenko

Illinois Institute of Technology (USA)

Proc. SPIE 7332, Unmanned Systems Technology XI, 733218 (April 30, 2009); doi:10.1117/12.818800
Text Size: A A A
From Conference Volume 7332

  • Unmanned Systems Technology XI
  • Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker
  • Orlando, Florida, USA | April 13, 2009

abstract

Unmanned Ground Vehicles (UGV) that possess agility, or the ability to quickly change directions without a significant loss in speed, would have several advantages in field operations over conventional UGVs. The agile UGVs would have greater maneuverability in cluttered environments and improved obstacle avoidance capabilities. The UGVs would also be able to better recover from unwanted dynamic behaviors. This paper presents a novel method of increasing UGV agility by actively altering the location of the vehicle's center of mass during locomotion. This allows the vehicle to execute extreme dynamic maneuvers by controlling the normal force acting on the wheels. A theoretical basis for this phenomenon is presented and experimental results are shown that validate the approach.

© (2009) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
Citation

Chenghui Nie ; Simo Cusi Van Dooren ; Jainam Shah and Matthew Spenko
"Increasing agility in unmanned ground vehicles using variable internal mass and inertial properties", Proc. SPIE 7332, Unmanned Systems Technology XI, 733218 (April 30, 2009); doi:10.1117/12.818800; http://dx.doi.org/10.1117/12.818800


Access This Proceeding
Sign in or Create a personal account to Buy this proceeding ($15 for members, $18 for non-members).

Figures

Tables

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging & repositioning the boxes below.

Advertisement
  • Don't have an account?
  • Subscribe to the SPIE Digital Library
  • Create a FREE account to sign up for Digital Library content alerts and gain access to institutional subscriptions remotely.
Access This Proceeding
Sign in or Create a personal account to Buy this proceeding ($15 for members, $18 for non-members).
Access This Proceeding
Sign in or Create a personal account to Buy this article ($15 for members, $18 for non-members).
Access This Chapter

Access to SPIE eBooks is limited to subscribing institutions and is not available as part of a personal subscription. Print or electronic versions of individual SPIE books may be purchased via SPIE.org.