Recommendation of a Next Generation Terramechanics Experimentation Capability for Small Ground Vehicle Systems.

This paper presents a review of literature for a terramechanics experimentation capability for the U.S. Army Tank Automotive Research, Development, and Engineering Center (TARDEC) in Warren, Michigan. Despite the increasingly important role that light-weight and small ground vehicles play in combat and military operations, most researchers do not currently have the ability to (i) measure vehicle operational parameters such as forces, torques, and sinkage that a wheel or track on a vehicle experiences, (ii) investigate the interaction that occurs between a wheel/track and soft soil, and (iii) objectively determine a light-weight or small vehicle’s ability to navigate complex off-road terrain. As a consequence, researchers currently evaluate the performance of a light-weight vehicle using semi-empirical techniques that were originally derived for heavy vehicles. The goal of this paper is to research the next generation terramechanics experimentation capability that will enable the exploration and validation of mobility models for wheel/tracked/legged robots. The recommended system will also facilitate an investigation of scalability of mobility performance between small and large systems. The recommendation of this facility draws on literature reviews of current facilities around the world, sophisticated measurement techniques, and modeling techniques. The recommended terramechanics experimentation capability will invigorate in-house research, enable collaborative relationships with other government agencies, academia, and industry, and encourage the investigation of unexplored terramechanics phenomena.