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

Marian Janusz Łopatka, Karol Cieślik, Piotr Krogul, Tomasz Muszyński, Mirosław Przybysz (), Arkadiusz Rubiec and Kacper Spadło
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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

Energies, 2023, vol. 16, issue 19, 1-22

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.

Keywords: terrain mobility; slip control system; hydrostatic drive system; UGV (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2023
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