Modeling and Anti-Roll Control for High-Speed UGV Tele-operation



The GPS and Vehicle Dynamics Lab at Auburn University is currently working on researching vehicle rollover and creating ways to prevent its occurrence. Every year, there are approximately 10,000 fatalities on US highways. This accounts for about 10% of all roadway deaths, while only accounting for 2% of the accidents. Vehicle rollover can also be a concern to High-Speed Unmanned Ground Vehicles (UGV). In order to operate UGVs at high speed, a robust controller with Electronic Stability Controllers (ESC) will greatly reduce the likelihood of vehicle rollover.

At Auburn University, we are deriving vehicle models for several types of vehicles and creating ESC to prevent loss of stability. We have studied effects of weight split on the vehicle as well as create a scaled vehicle to analyze models and implement ESC for testing. We also have software packages such as MATLAB, CarSim, and Adams to aid us in the development our vehicle models by performing simulations. We also are planning on implementing ESC on an unmanned ATV in the summer of 2006.

Figure 1:


Auburnís UGV Rascal

Figure 2:


Rollover Simulation in CarSim testing the effect of changing weight split