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Proceedings Paper

Coordination of an unmanned vehicle with active suspension over extreme terrain
Author(s): Kenneth J. Waldron; Muhammad Abdallah
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Paper 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.

Paper Details

Date Published: 30 September 2003
PDF: 9 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.501374
Show Author Affiliations
Kenneth J. Waldron, Stanford Univ. (United States)
Muhammad Abdallah, Stanford Univ. (United States)


Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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