Paper presented at ISTVS 2025 | 55th Conference of the International Society for Terrain-Vehicle Systems https://doi.org/10.56884/1EBEV4Q4
Authors: Bohumir Jelinek, Aidan Dickerson, Angela Card, Greg Henley, George Mason, John Ethan Salmon, Ch. Michael Gibson, Tyler Hannis, Tom Skorupa, Michael Cole, Jody Priddy, Miriam Figueroa-santos, Sara Boyle, Jeremy Mange
Keywords: Off-Road Mobility; Soft Terrain; Electronic Stability Control; Antilock Braking System; Double Lane Change
Abstract:
Understanding effects of electronic control systems, such as Antilock Braking System (ABS) and Electronic Stability Control (ESC), and their interaction with the steering control algorithm is critical for improving mobility and maneuverability of autonomous wheeled vehicles in off-road environments. In this work, we evaluate effects of wheel-speed based ABS and yaw-rate-following ESC on the performance of autonomously driven Polaris RZR vehicle performing a double-lane-change (DLC) maneuver in granular terrain by identification of maximum DLC passing speeds. Two lateral speed controllers are compared: simple PID and Stanley autonomous steering controller, along with the longitudinal speed controller that accelerates the vehicle to identify maximum DLC passing speed. The simulations were conducted using Chrono simulation package with the Soil Contact Model (SCM) parameters. The SCM parameters were calibrated to represent dry sand by using data from published experimental measurements. The ABS effects were found to be negligible or detrimental, while ESC augmented the lateral steering control algorithm allowing the vehicle to achieve higher DLC passing speeds.
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