OUTDOOR NAVIGATION OF UNMANNED GROUND VEHICLES (UGVS): SIMULATION ANALYSIS OF TRAVERSABILITY OF TRACKED UGVS

RESEARCH MANAGEMENT INSTITUTE (RMI) UNIVERSITI TEKNOLOGI MARA 40450 SHAH ALAM, SELANGOR D.E. MALAYSIA

BY: MUHAMMAD AZMI BIN AYUB LOW CHENG YEE AHMAD FADZLI BIN MOHD KAMIL AHMAD MALIKI BIN OMAR

MARCH 2010

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Tarikh

30hb Mac 2010

No. Projek

600-IRDC/ST 5/3/948

Prof. Dr. Abu Bakar Abdul Majeed Penolong Naib Canselor (Penyelidikan) Research Management Institute (RMI) Universiti Teknologi MARA 40450 Shah Alam.

Yg. Bhg. Prof. Dr. Abu Bakar Abdul Majeed LAPORAN AKHIR PENYELIDIKAN GERAN STG: OUTDOOR NAVIGATION OF UNMANNED GROUND VEHICLES (UGVS): SIMULATION ANALYSIS OF TRAVERSABILITY OF TRACKED UGVS.

Merujuk kepada perkara di atas, bersama-sama ini disertakan 2 (dua) naskah Laporan Akhir Penyelidikan Geran Jangka Pendek (STG) yang bertajuk Outdoor Navigation of Unmanned Ground Vehicles (UGVS): Simulation Analysis of Traversability of Tracked UGVS.

Sekian, Terima kasih.

Yang benar,

. (PROF. MADYA. DR. MUHAMMAD AZMI BIN AYUB)

Ketua Projek Penyelidikan

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PROJECT TEAM MEMBERS

PROF. MADYA. DR. MUHAMMAD AZMI BIN AYUB Project Leader . Signature

DR. ING. LOW CHENG YEE Project Member . Signature

EN. AHMAD FADZLI BIN MOHD. KAMIL Project Member . Signature

PROF. MADYA. DR. AHMAD MALIKI BIN OMAR Project Member . Signature

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ACKNOWLEDGEMENT

In the name of God, the Most Beneficent and Merciful, a very deep gratitude and appreciation to all supporters and individuals involved:

Research Management Institute (RMI), UiTM for funding the project;

Companies and industries, final project students from the Faculty of Mechanical Engineering, who have participated in this project;

Mechatronic Lab Technician, En. Elwan Solleh, from the Faculty of Mechanical Engineering, UiTM Shah Alam, who has served in the project;

The organizing committee of the International Workshop Robotics and Intelligent Sensor (IRIS 2010) for giving the opportunity to present a paper on Modelling and Simulation of Steerability of Tracked Unmanned Ground Vehicles in Japan, 9-11 March 2010.

Finally, to those who have directly or indirectly contribute towards the completion of the project. Thank you. Your efforts and contributions are very much appreciated.

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ABSTRACT

This report basically concerns with the analysis of traverse ability of a tracked UGV (Unmanned Ground Vehicle). A MATLAB Programming of the tracked UGV model was developed and executed for simulation analysis in the MATLAB Simulink software package environment. In the chapter one, the objectives, scope of works, methodology and the significance of the report had been stated. This will be the guidance for the whole concept of the research undertaken in this project. In the second chapter, it will concentrate more on the general terminologies, definitions and concept of the UGV. A few examples of UGV have been shown here to give a better understanding what UGV is all about. In the third chapter, it is all about the derivation of the kinematics equations that are required to develop the tracked UGV model. All the derivations basically were referred to a related journal mentioned in the reference section. In chapter four, the UGV parameters were identified for the input values that required in the simulation process. The fifth chapter is all about MATLAB Programming. In this chapter, the tracked UGV model is depicted and also the related model was programmed in m-files. The sixth chapter shows the results of the simulation in the form of graphs. In this chapter also, the results were analyzed and discussed. The last chapter will be the recommendation and conclusion of this report. The findings through out this project accomplishment also stated here.

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TABLE OF CONTENTS

CONTENT FRONT COVER LETTER OF AWARD FOR RESEARCH PROJECT LETTER OF SUBMISSION D FOR RESEARCH PROJECT REPORT PROJECT TEAM MEMBERS ACKNOWLEDGEMENT ABSTRACT NOMENCLATURE TABLE OF CONTENTS LIST OF FIGURES LIST OF TABLES

PAGE i ii vi vii viii ix x xii xv xvii

CHAPTER ONE

INTRODUCTION 1.0 Introduction 1.1 Project Objectives 1.2 Project Scope 1.3 Methodology 1.4 Significance of Project 1 2 2 2 2

CHAPTER TWO

LITERATURE REVIEW 2.0 Introduction 2.1 Definition of UGV 2.2 Types of UGV 2.3 Application of UGV 3 3 5 5

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CHAPTER THREE

KINEMATIC MODEL OF UGV 3.0 Introduction 3.1 Main assumption 3.2 Coordinate system 3.3 Kinematics of vehicle 3.4 Derivation of equation (ii) & equation (iii) 3.5 Derivation of equation (v) for side slip rate 3.6 Derivation of equation (vi), (vii) and (viii) 3.7 Motion of the tracks 3.8 The reaction forces exerted at track points 3.9 Equation of motion 7 7 8 8 11 13 14 16 18 22

CHAPTER FOUR

UGV PARAMETERS 4.0 Introduction 4.1 The dimension of the simplified UGV 4.2 Calculation for the mass moment of inertia 24 25 27

CHAPTER FIVE

SOFTWARE DEVELOPMENT 5.0 Introduction 5.1 MATLAB Simulink 5.2 MATLAB M-files 5.2.1 Input for verify m-file 5.2.2 Qxniti TrackT m-file 5.2.3 Qyniti TrackT m-file 5.2.4 Slip ratio 30 30 36 36 37 40 41

CHAPTER SIX

SIMULATION ANALYSIS AND RESULTS 6.0 Simulation 6.1 Results 6.1.1 Graphs for Existing Tracked Vehicle simulation 6.1.2 Graphs for Tracked UGV (specimen) simulation 42 43 43 50

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6.2 Discussion 6.2.1 Trajectory Motion 6.2.2 Absolute Velocity 6.2.3 Track slip and side slip angle 6.2.4 Yaw rate CHAPTER SEVEN CONCLUSION AND RECOMMENDATION 7.1 Conclusion 7.2 Recommendation REFERENCES

56 56 56 56 57

58 59 60

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LIST OF FIGURES

FIGURE Figure 2.1 Figure 3.1 Figure 3.2 Figure 3.3 Figure 3.4 Figure 3.5 Figure 3.6 Figure 3.7 Figure 3.8 Figure 4.1 Figure 4.2 Figure 4.3 Figure 4.4 Figure 4.5 Figure 5.1 Figure 5.2 Figure 5.3 Figure 5.4 Figure 5.5 Figure 5.6 Figure 5.7 Figure 5.8 Figure 6.1

TITLE Examples of UGV The coordinate systems for tracked vehicle Kinematics of turning motion Velocity of turning particle Acceleration of turning particle Motion of the tracks Load distributions under road wheels in maneuvering Load changes of suspension due to track tensions Forces and moments acting on a tracked vehicle Tracked UGV without tracked wheel Tracked UGV Sketch of the tracked UGV The body of tracked UGV and its axes Element assumption Main Block Diagram of Tracked UGV Model Kinematic Subsystem Vt1 Subsystem1 Vt Subsystem Input for verify m-file Qxniti TrackT m-file Qyniti TrackT m-file Slip ratio m-file Trajectories motion of center of gravity of the existing tracked vehicle

PAGE 4 8 9 11 11 16 18 20 22 25 25 26 27 27 32 33 34 35 37 40 41 41 44

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Figure 6.2

Inner and outer track velocities of the existing tracked vehicle

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Figure 6.3

Absolute velocities at center of gravity of the existing tracked vehicle

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Figure 6.4 Figure 6.5

Longitudinal slip velocity of the existing tracked vehicle Longitudinal friction coefficient of inner and outer track of the existing tracked

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Figure 6.6 Figure 6.7 Figure 6.8

Yaw rate of the existing tracked vehicle Side slip angle of the existing tracked vehicle Trajectories motion of center of gravity of the tracked UGV (specimen)

49 49 51

Figure 6.9

Inner and outer track velocities of the tracked UGV (specimen)

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Figure 6.10

Absolute velocities at center of gravity of the tracked UGV (specimen)

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Figure 6.11 Figure 6.12

Longitudinal slip velocity of the tracked UGV (specimen) Longitudinal friction coefficient of inner and outer track of the tracked UGV (specimen)

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Figure 6.13 Figure 6.14

Yaw rate of the tracked UGV (specimen) Side slip angle of the tracked UGV (specimen)

55 55

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LIST OF TABLES

TABLE

TITLE

PAGE

Table 4.1

List of parameter values

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Table 6.1

Vehicle parameters of tracked UGV and existing tracked vehicle

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NOMENCLATURE

Aj B C C.G D E1, E2 f G g H Iz i j m n

Slip radius width of track center of curvature center of gravity of vehicle displacement of pivoting point of vehicle coefficients in the pull-slip equations, used to define a coefficient of friction for the tracks coefficient of rolling resistance total weight of vehicle gravitational acceleration height of center of gravity moment of inertia about z axis of vehicle subscript ith road wheel subscript inner j = 1, outer j = 2 mass of vehicle number of road wheel in each side load under (i, j)-road wheel during maneuver load under (i, j)-road wheel due to inertia force load change under (i, j)-road wheel due to track tension longitudinal component of friction force of track under (i, j)-road wheel lateral component of friction force of track under (i, j)-road wheel rolling resistance turning radius of center of gravity slip ratio of track

Pij

Pij
~ Pij
Qxij Qyij Rj Rc Sj

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t tij V Vx Vy Vsxj Vsyi x y f r x y ij

time wind-up force of track vehicle speed at center of gravity forward velocity of vehicle lateral velocity of vehicle longitudinal slip velocity of track lateral velocity of track longitudinal component of acceleration at center of gravity lateral component of acceleration of center of gravity side slip angle yaw angle approach angle of track departure angle of track longitudinal coefficient of friction of track lateral coefficient of friction of track directional angle of course of center of gravity slipping direction of track under (i, j)-road wheel

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CHAPTER ONE

INTRODUCTION

1.0 Introduction The steer ability of tracked vehicles has been investigated for a long time. Steeds [5] clarified skid steering mechanism taking into consideration the longitudinal slip on the track of tracked vehicle. However in his study, a uniform ground pressure was assumed and a tedious trial and error method of solution was suggested. Weiss [7] has used a more practical model based on the study of turning performed by Steeds. It is suggested in his report that for running on hard ground it would probably be more correct to treat a proper track as a line of wheels represented by point loads rather than as a load uniformly distributed along a straight line. Then the vehicle equations were derived to determine the unknowns i, 0 and that are non-dimensional coordinates of the instantaneous centers of rotations. However the solutions of these equations are obtained graphically in the form of nomograms. Recently, the development of digital computers has made it possible to calculate directly with high accuracy and speed. Studies on tracked vehicles have been previously performed only in terms of circular motions at constant speed. It is necessary to investigate the non-stationary motion of a tracked vehicle. Stationary movements are rather unusual and almost all motions on a tracked vehicle are considered nonstationary. It is therefore, the purpose of this paper to present a mathematical model that will allow the study of curvilinear motion of tracked vehicles on level ground. A system of differential equations was programmed and numerically solved on a digital computer.

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Where the inputs (independent variables) to the program, which can be functions of time, are both track velocities (circumferential velocities of right and left drive sprockets), the outputs are spatial position, side slip angle, yaw rate , and acceleration of center of gravity.

1.1 Project Objectives: The main aspiration is to increase the autonomy of tracked UGVs traverse on hazardous and inaccessible environment which demands the absence of human being. Subsequently, the main research will focus on investigating physics based models for traversability prediction of tracked UGV. Apply the MATLAB model to UGV fabricated by last semester student. 1.2 Scope: Development of comprehensive non-linear dynamics and kinematics model for tracked UGV using MATLAB Simulink. 1.3 Methodology: Determine the equations for mathematical modeling by referring to journal. UGV kinematics and dynamics modeling into MATLAB Simulink. Simulate and validate UGV models. Take dimensions data from fabricated UGV and simulate using the same MATLAB model. Analysis of overall simulation results. Documentation and writing up the report. 1.4 Significance of project: To gain new scientific knowledge and at the same time oriented towards practical application. To expose myself with MATLAB Simulink that is very useful software to learn. To apply the MATLAB model on the fabricated tracked UGV which is taken from last semester students project. The project will provide information that will be useful to researches and designers of autonomous tracked UGV.

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CHAPTER TWO

LITERATURE REVIEW

2.0 Introduction A tracked vehicle is a vehicle that runs on its own tracks rather than on wheels. They are sometimes called track-laying vehicles, or Caterpillars, after the manufacturer of one make of bulldozer. The principal design advantages of tracked over wheeled vehicles are that they are in contact with a larger surface area than would generally be the case with a wheeled vehicle, and as a result exert a much lower force per unit area on the ground being traversed than a conventional wheeled vehicle of the same weight. This makes them suitable for use on soft and uneven ground. The principal disadvantage is that tracks are a more complex mechanism than a wheel, and relatively prone to failure modes such as snapped or derailed tracks.

Unmanned ground vehicles or UGV are robotic platforms that are used as an extension of human capability. This type of robot is generally capable of operating outdoors and over a wide variety of terrain, functioning in place of humans. It has the ability to move to a desired area and then perform some sort of work involving manipulating variety of tools. UGVs are similar to unmanned aerial vehicle UAV technology and remotely operated vehicles. Unmanned robotics are actively being developed for both civilian and military use to perform unreachable, dirty, and hazardous activities.

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2.1 Types of UGV UGV can be classified into two kinds of types which are Teleoperated and Autonomous UGVs. A teleoperated UGV is a vehicle that is controlled by a human operator at a remote location via a communications link. All cognitive processes are provided by the operator based upon sensory feedback from either line-of-sight visual observation or remote sensory input such as video cameras. A basic example of the priciples of teleoperation would be a toy remote control car. Each of the vehicles are unmanned and controlled at a distance via a wired or wireless connection while the user provides all control based upon observed performance of the vehicle. There are a wide variety of teleoperated UGVs in use today. Predominately these vehicle are used to replace humans in hazardous situations. Examples are explosives and bomb disabling vehicles.

Figure 2.1 Examples of UGV An autonomous UGV is essentially an autonomous robot but is specified as a vehicle that operated on the surface of the ground. A fully autonomous robot in the real world has the ability to:
o o o

Gain information about the environment. Work for months or years without human intervention. Travel from point A to point B, without human navigation assistance.

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o o

Avoid situations that are harmful to people, property or itself Repair itself without outside assistance.

In order to navigate autonomously, an Unmanned Ground Vehicle (UGV) must be equipped with sensors for measuring the terrain, software for interpreting the data, path planning to decide a safe course of action, and control to oversee that plan. 2.2 Application of UGV UGVs can be used to perform a variety of missions, ranging from reconnaissance, mine detection, weapon firing, communication relay, and decoy to target acquisition. Benefits include the following: Reduce risk to human life and increase operational flexibility in combat. Reduced personnel required and cost for operations done repetitively. Reduce training cost and training realism. Improve performance where automated systems either perform better by humans or eliminate the system compromises required by human physiological limits. Force multiplication where operators with UGVs bring substantially more capability to bear than possible with individual troops. Unmanned ground vehicles (UGV) are expected to play a key role in the Armys Objective Force structure. The use of UGV systems will reduce casualties and significantly increase combat effectiveness. Currently, unmanned ground and air systems are included in preliminary concepts for the Armys Future Combat Systems (FCS) program. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. Current development efforts, the Army UGV program has included remotely operated tactical robots and demonstrations of robotic- follower and primitive semiautonomous mobility. The program is still in basic stages of experimentation.

2.3 Other kind of application:a) Space Expedition UGV is sent to space to do some data and specimen collecting. The replacement of man by UGV facilitates space expedition without jeopardizing astronauts life. It also enhances the accuracy of the task performed. One of the first flights of the space shuttle was the operation of the arm in space. The arm is a mechanical manipulator controlled

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by the astronaut from a post at the rear of the cockpit. The astronaut looks at a target point with the aid of television cameras attached to the manipulator and tries to bring the end of the arm to this point. The task of this remote-controlled manipulator is to place satellites into orbit and retrieve them when fail, which is an essential task in advancing space technology.

b) Pipeline Engineering For maintenance of pipeline, UGV becomes a handy device to do the inspection or to detect for any blocks in the pipeline. This is because some of the pipelines such as sewerage pipes cannot be reached by man because of the hazardous gas inside.

c) Hazardous Area Hazard can be associated with harm or loss. It is also synonym to the word risk. Jones defines hazard as a physical situation with a potential for human injury, damage to property, damage to the environment or some combination of these. The definition of hazard system is a system having, in the general case, three basic kinds of components i.e. source, one or more receptors and transmission paths. The source has the potential for injury to people or damage to property or the environment. A receptor has the potential for sustaining injury or damage should the potential for harm in a source be realized. A transmission path is a medium by which, or through which, harm is transmitted from the source to the receptors and simultaneously attenuated. Some hazard systems may also include interposed barriers which are intended to attenuate the harm.

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CHAPTER THREE

KINEMATICS MODEL OF THE TRACKED UGV

3.0 Introduction Before we program the modeling of the tracked UGV, we have to determine the equations that we are going to programmed. Most of the equations derived were referred from a journal titled An Analysis of Horizontal Plane Motion of Tracked Vehicles by M.Kitano and M.Kuma(1997). I chose this journal for my reference because it contains relevant theory and equations. Some of the simple kinematics equations are easy to understand and I also have shown the derivation in this chapter. But, there are others equations are too complicated for me to understand and to derive. So, I just apply those equations and assume they are valid.

3.1 Main assumption In deriving the equations of plane motion of tracked vehicles, the following assumptions were made: 1. The vehicle employs independent suspensions with an identical spring rate, and n road wheels are arranged in tandem on each side of the hull (vehicle body). 2. The vehicle is symmetric with respect to xz-plane and yz-plane. 3. When the vehicle maneuvers on hard ground, the loads in the interface between ground and tracks are concentrated under the road wheels. 4. Friction between ground and track is Coulomb friction, and it is anisotropic as suggested by Micklethwait (1994). 5. Aerodynamic forces during the turning maneuver of the vehicle are neglected.

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