Slippage Performance of an Agricultural Unmanned Ground Vehicle Equipped With Tracked Locomotion Platform

Slippage performance of an unmanned ground vehicle with tracked locomotion platform for autonomous transportation of agricultural payloads in greenhouse constructions leads to appearance of an applied research in this study. This novel aim has been chosen based on operational requirement of the vehicle. To this aim, various payloads mounted on a trailer (۱-۵ kN) were pulled by the vehicle through diverse drive speeds (۰.۱۷-۰.۵ m/s). Results illuminate that vehicle drive speed and payload weight had consequential contribution to the slippage. Linear regression approximations demonstrate that dual cumulative contributory effect of the drive speed and payload weight on the slippage (۰.۶۴-۱۸.۳۰ %) was increasingly synergetic. Overall, numerical and analytical descriptions of the results as well as practical suggestions provide appropriate guidelines for optimization of slippage performance of the vehicle working in greenhouse constructions.

کلیدواژه ها:

Unmanned ground vehicles ، Ground mobile robots ، Tracked vehicles ، Tractor vehicles ، Tractor robots