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4.1. Wheel – Vehicle – Step Obstacle Interaction
Sergey B. Shukhman, Vladimir V. Vantsevich
116 - 133
10.3233/978-1-61499-576-0-116
NATO Science for Peace and Security Series - D: Information and Communication Security
Volume 44: Advanced Autonomous Vehicle Design for Severe Environments
Abstract

The problem of overcoming a step obstacle by controlling the power distribution between the driving wheels of all-wheel-drive vehicles is analyzed. A mathematical model for traversing step obstacles by a single wheel that allows calculating the magnitudes of forces , including the torque and the longitudinal direction force that are needed to overcome the obstacle is developed. The results are applied to a 4x4 vehicle with individual distribution of power between the wheels.

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