Analysis of obstacle crossing performance of wheel legged unmanned combat vehicles

DOI:	10.11809/bqzbgcxb2023.05.010
Keywords:	wheel leg; unmanned combat vehicle; obstacle crossing; dynamics; posture planning
Abstract:	Aiming at the problem of insufficient trafficability of military transportation, emergency rescue and disaster relief on an unstructured complex road surface, this paper proposes an eight wheeled unmanned combat vehicle driven by wheel legged full hydraulic pressure, which can adjust its operation attitude to adapt to different complex terrains through the cooperative control of the swinging arms. Obstacle crossing performance is the key factor to measuring its trafficability. An obstacle crossing dynamics model and a posture planning model of the unmanned combat vehicle are established, and then the obstacle crossing performance of typical vertical wall obstacles of the vehicle is obtained by figuring out the relationship between different obstacle crossing heights and swinging angles of the swinging arms of the vehicle. On the basis of theoretical analysis, a comprehensive simulation platform is established and verified through QT, simulink and ADAMS. The results show that the eight wheeled unmanned combat vehicle driven by wheel legged full hydraulic pressure can complete vertical wall obstacle crossing with a height of 1.176 times of the tire diameter.
Issue:	Vol. 44 No. 5 (2023)
Published:	2023-05-28
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