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Proceedings Paper

Increasing agility in unmanned ground vehicles using variable internal mass and inertial properties
Author(s): Chenghui Nie; Simo Cusi Van Dooren; Jainam Shah; Matthew Spenko
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Paper 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.

Paper Details

Date Published: 30 April 2009
PDF: 10 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 733218 (30 April 2009); doi: 10.1117/12.818800
Show Author Affiliations
Chenghui Nie, Illinois Institute of Technology (United States)
Simo Cusi Van Dooren, Illinois Institute of Technology (United States)
Jainam Shah, Illinois Institute of Technology (United States)
Matthew Spenko, Illinois Institute of Technology (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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