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This paper presents a generalized, multibody dynamics model for a tracked vehicle equipped with a towing winch and control strategies that enhance vehicle mobility by regulating track slip based on real-time terrain characterization and automating winch use. The vehicle model is validated under conditions where no action is taken by the winch. Thereafter, two mobility enhancing control strategies are outlined. The first strategy regulates track slip to a real-time estimated value that generates maximum net traction. This is done by computing state-force estimates from a Kalman filter that are compared to terrain traction models using a Bayesian hypothesis selection approach. If the vehicle is traction limited and the first strategy fails, a second strategy that automates winch use is activated. Simulation results are shown for both scenarios. [ABSTRACT FROM AUTHOR]

This paper provides a methodology for the estimation of resistance, thrust, and resistive torques on each wheel of a rigid-wheeled vehicle generated at the vehicle-terrain interface, and from these forces and moments, a methodology to estimate terrain parameters is presented. Terrain force estimation, which is independent of a terrain model, can infer the ability to accelerate, climb, or tow a load independent of the underlying terrain properties. When a terrain model is available, parameters of that model, such as soil cohesion, friction angle, maximum normal stress, and stress distribution parameters, are determined from estimated vehicle-terrain forces using a multiple-model estimation approach, providing parameters that relate to accepted mobility metrics. The methodology requires a standard proprioceptive sensor suite-accelerometers, rate gyros, wheel speeds, motor torques, and ground speed. Sinkage sensors are not required. Simulation results demonstrate efficacy of the method on three terrains spanning a range of soil cohesions reported in the literature. [ABSTRACT FROM AUTHOR]