Off-road vehicle locomotion using Bekker's model

Grant R. Gerhart; Sean C. Laughery; Richard C. Goetz

doi:10.1117/12.391622

10 July 2000 Off-road vehicle locomotion using Bekker's model

Grant R. Gerhart, Sean C. Laughery, Richard C. Goetz

Author Affiliations +

Proceedings Volume 4024, Unmanned Ground Vehicle Technology II; (2000) https://doi.org/10.1117/12.391622
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

Bekker's Derived Terramechanics Model (BDTM) is an analytical tool for evaluating vehicle off-road mobility. BDTM has been developed using Bekker's equations for vehicle soil interactions. He developed the bevameter technique to measure mechanical strength characteristics for many soil and snow conditions. BDTM is in a spreadsheet format, and its primary purpose is to compare mobility characteristics for robotic track and wheeled vehicles under different terrain conditions. Bekker's model is a simple, linear one degree-of-freedom (1-DOF) model, which assumes that in a perfectly cohesive soil (i.e. clay), soil thrust is only a function of contact surfacearea. The model also assumes that for a perfection cohesionless or frictional soil (i.e. dry sand), soil thrust is a function of vehicular weight. This paper attempts to compare the mobility characteristics of wheeled vs. track vehicles for different size, weight and terrain conditions.

Citation Download Citation

Grant R. Gerhart, Sean C. Laughery, and Richard C. Goetz "Off-road vehicle locomotion using Bekker's model", Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); https://doi.org/10.1117/12.391622

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