地面车辆机动性评估方法与应用

Methods and applications of ground vehicle mobility evaluation

首先,讨论了地面车辆机动性的内涵,对基于经验、半经验、数值模拟以及机器学习等当前地面车辆机动性评估的主要方法进行了全面、系统的总结,并对比分析了各种方法的优缺点。然后,从军用领域、海底作业、行星探索以及农业作业等机动性评估的应用场景进行了分析讨论。最后,针对目前车辆机动性评估方法中存在的一些问题,从车辆机动性实时评估和地形实时感知、变形地形上的路径规划以及无人系统自主机动性评估等关键技术和应用方面提出了一些探索性的研究方向,为车辆机动性评估方法的后续发展提供了有益的参考。

Firstly,the definition of mobility was discussed,and then the main existing ground vehicle mobility evaluation methods,i.e.,empirical model,semi-empirical model,numerical simulation and machine learning,were analysed and summarized comprehensively,also the advantages and disadvantages of each method were compared.In order to describe the vehicle mobility completely,application of these methods are discussed,such as military vehicles,sea-floor operation,planetary exploration and agricultural vehicles.Finally,according to the problems existing in the vehicle mobility evaluation methods,this paper proposed some key technologies and exploratory research directions from real-time evaluation of vehicle mobility and real-time terrain perception,path planning on deformed terrain and autonomous mobility evaluation for unmanned systems,so as to provide a beneficial reference to the development of vehicle mobility elevation methods.