Coordination of an unmanned vehicle with active suspension over extreme terrain

Kenneth J. Waldron; Muhammad Abdallah

doi:10.1117/12.501374

30 September 2003 Coordination of an unmanned vehicle with active suspension over extreme terrain

Kenneth J. Waldron, Muhammad Abdallah

Proceedings Volume 5083, Unmanned Ground Vehicle Technology V; (2003) https://doi.org/10.1117/12.501374
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

Active suspension is now a well-tried technology in road vehicles. It has been installed on a HMMV and demonstrated to significantly improve performance in rough road conditions. This capability presents an opportunity for improved mobility in off-road conditions. The challenge is to devise a means of translating the desired trajectory of the vehicle into commands to the suspension actuators and the traction motors in an optimal, or near optimal manner. In this paper we describe part of a software architecture that was developed to enable such performance from a six-wheeled vehicle with active suspension and independent wheel drives. The vehicle was a concept developed under the DARPA Unmanned Ground Combat Vehicle Program.

Citation Download Citation

Kenneth J. Waldron and Muhammad Abdallah "Coordination of an unmanned vehicle with active suspension over extreme terrain", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.501374

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available