
Proceedings Paper
Evaluation of terrain parameter estimation using a stochastic terrain modelFormat | Member Price | Non-Member Price |
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Paper Abstract
Autonomous vehicles driving on off-road terrain exhibit substantial variation in mobility characteristics even when the
terrain is horizontal and qualitatively homogeneous. This paper presents a simple stochastic model for characterizing
observed variability in vehicle response to terrain and for representing transitions between homogeneous terrain with
local variability or between heterogeneous terrain types. Such a model provides a means for more realistic evaluation of
terrain parameter estimation methods through simulation. A stochastic terrain model in which friction angle and soil
cohesion are represented by Gaussian random variables qualitatively represents observed variability in traction vs. slip
characteristics measured experimentally. The stochastic terrain model is used to evaluate a terrain parameter estimation
method in which terrain forces are first estimated independent of a terrain model, and subsequently, parameters of a
terrain model, such as soil cohesion, friction angle, and stress distribution parameters are determined from estimated
vehicle-terrain forces. Simulation results show drawbar pull vs. slip characteristics resulting from terrain parameter
estimation are within statistical bounds established by the stochastic terrain model.
Paper Details
Date Published: 30 April 2009
PDF: 10 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 73321F (30 April 2009); doi: 10.1117/12.817737
Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
PDF: 10 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 73321F (30 April 2009); doi: 10.1117/12.817737
Show Author Affiliations
Danielle A. Dumond, Dartmouth College (United States)
Laura E. Ray, Dartmouth College (United States)
Laura E. Ray, Dartmouth College (United States)
Eric Trautmann, Dartmouth College (United States)
Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
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