Исследование профильной проходимости колесной машины с помощью алгоритма пересечения многогранников

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А.А. Стадухин, Р.Д. Песков
14 Инженерный журнал: наука и инновации # 9·2017
Investigating the profile passability
of the wheeled vehicle by means
of the polyhedra intersection algorithm
© A.A. Stadukhin, R.D. Peskov
Bauman Moscow State Technical University, Moscow, 105005, Russia
The article suggests defining the pattern of the interaction between the support base and
the wheel of the transport vehicle by means of the Gilbert — Johnson — Keerthi polyhe-
dra intersection algorithm that allows examining the wheeled vehicle’s crossing the ob-
stacles of any profile, including the ones with the vertical walls and negative grades.
With the view of the simplicity and the computations efficiency increase the suggested
technique is restricted by the two-dimensional interaction between the circle of the wheel
and the polygon of the road. The article provides the dependencies necessary for finding
the forces and torques arising during the interaction between the wheel and the support-
ing surface. We introduce a simulated computer model, used for the suggested technique.
The patterns of simulating the wheeled vehicle motion over the various supporting sur-
faces are considered. We give recommendations regarding the use of this technique for
solving the spatial problem of investigating the profile passability.
Keywords: profile passability, wheeled vehicles, supporting surface, dynamic simulation,
MATLAB, Gilbert — Johnson — Keerthi algorithm
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