Intelligent system for identification of the soil parameters during the movement of the tracked vehicle

Abstract

Abstract The authors propose a schematic structure of the intelligent system for the real time identification of the soil parameters during the movement of the tracked vehicle. The system is compared with the methods of the driving conditions prediction based on the analysis of databases, contactless telemetry, terrain scanning, etc. The possible advantages and disadvantages of these methods are specified. The descriptions of the system blocks are given, the purpose and interrelation between the components are considered in detail. Requirements of the blocks and separate components of the system are specified. The concept of integration of the system for identification of the soil parameters during the movement of the tracked vehicle into an autonomous motion control system is presented. The authors offer a method for the soil characterisation without the use of databases. The method is based on the solution of the direct and inverse problems of terramechanics for the tracked autonomous mobile complexes. The article contains typical performance examples fordifferent types of soils used for the development of the algorithms of the system foridentification of the soil parameters. Different identity criteria are proposed for checking the conformity of the soil performance models to its real performance. The article contains the analysis of the technical problems to be solved during development of a system for identification of the soil parameters.