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Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems

Author

Listed:
  • Marian Janusz Łopatka

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

  • Karol Cieślik

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

  • Piotr Krogul

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

  • Tomasz Muszyński

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

  • Mirosław Przybysz

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

  • Arkadiusz Rubiec

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

  • Kacper Spadło

    (Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland)

Abstract

The article explored the potential for enhancing the off-road mobility of unmanned ground vehicles (UGV) equipped with a hydrostatic drive system. The analysis showed that effectively overcoming rough or soft terrain demands a slip limitation. In the UGVs with hydrostatic drives, flow dividers are used for this purpose. Unfortunately, they have certain drawbacks, such as reduced efficiency due to pressure losses. In order to minimize this phenomenon, an external braking system was used as a new slip control system. Therefore, simulation studies were carried out to assess the new slip control system while overcoming terrain obstacles due to the reduction of energy consumption and improving the mobility of the UGV.

Suggested Citation

  • Marian Janusz Łopatka & Karol Cieślik & Piotr Krogul & Tomasz Muszyński & Mirosław Przybysz & Arkadiusz Rubiec & Kacper Spadło, 2023. "Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems," Energies, MDPI, vol. 16(19), pages 1-22, October.
    • Handle: RePEc:gam:jeners:v:16:y:2023:i:19:p:6938-:d:1253094
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    References listed on IDEAS

    as
    1. Piotr Patrosz, 2021. "Influence of Properties of Hydraulic Fluid on Pressure Peaks in Axial Piston Pumps’ Chambers," Energies, MDPI, vol. 14(13), pages 1-23, June.
    2. Yang Yang & Yundong He & Zhong Yang & Chunyun Fu & Zhipeng Cong, 2020. "Torque Coordination Control of an Electro-Hydraulic Composite Brake System During Mode Switching Based on Braking Intention," Energies, MDPI, vol. 13(8), pages 1-19, April.
    3. Delei Fang & Junhong Yang & Jianzhong Shang & Zhuo Wang & Yong Feng, 2018. "A Novel Energy-Efficient Wobble Plate Hydraulic Joint for Mobile Robotic Manipulators," Energies, MDPI, vol. 11(11), pages 1-15, October.
    4. Jarmo Nurmi & Jouni Mattila, 2017. "Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator," Energies, MDPI, vol. 10(5), pages 1-31, May.
    5. Mirosław Przybysz & Marian Janusz Łopatka & Arkadiusz Rubiec & Piotr Krogul & Karol Cieślik & Marcin Małek, 2022. "Influence of Hydraulic Drivetrain Configuration on Kinematic Discrepancy and Energy Consumption during Obstacle Overcoming in a 6 × 6 All-Wheel Hydraulic Drive Vehicle," Energies, MDPI, vol. 15(17), pages 1-21, September.
    6. Valery Vodovozov & Andrei Aksjonov & Eduard Petlenkov & Zoja Raud, 2021. "Neural Network-Based Model Reference Control of Braking Electric Vehicles," Energies, MDPI, vol. 14(9), pages 1-22, April.
    7. Mirosław Przybysz & Marian Janusz Łopatka & Marcin Małek & Arkadiusz Rubiec, 2021. "Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle," Energies, MDPI, vol. 14(12), pages 1-19, June.
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