Development of variable-configuration wheeled driving system for enhancing the obstacle-crossing ability of unmanned vehicles

Abstract

A variable-configuration wheeled driving system is proposed to improve the obstacle-crossing abilities of unmanned vehicles. The effects of the wheel load on the wheels’ obstacle-crossing abilities are analysed using statics theory. Similarly, the effects of the suspension’s stiffness and the adhesion coefficient on the vehicle’s obstacle-crossing ability are analysed. Numerical calculation results show that a higher wheel lift height leads to improved obstacle-crossing abilities. A strategy to adjust the system configuration during obstacle crossing is designed with the wheel lift height acting as the optimisation target. The variable-configuration strategy is verified and the optimal adjustment of the middle axle is determined through simulations. An obstacle-crossing experiment shows that a vehicle can cross a 1-m step obstacle when the proposed variable-configuration strategy is applied. The obstacle-crossing ability of the unmanned vehicle can thus be greatly enhanced.