James M. Williams, Farshid Vahedifard, Isaac L. Howard, Arman Borazjani, George L. Mason, Jody D. Priddy
Journal of Terramechanics, Volume 84, 2019, Pages 1-12, ISSN 0022-4898
https://doi.org/10.1016/j.jterra.2019.04.003.(http://www.sciencedirect.com/science/article/pii/S002248981830209X)
Abstract: With over 8000 field and laboratory tests, the Database for Off-Road Vehicle Environments (DROVE) provides a consolidated database of parameters for the assessment of tracked and wheeled vehicles on fine- and coarse-grained soils. This paper presents a new release of DROVE, version 2.0, which adds 294 results from the test performed by powered and unpowered tracks on fine-grained soils. Several performance parameters including drawbar pull, motion resistance, sinkage, torque, trim angle, and slip were measured alongside track geometry and loads. Soil properties were quantified via cone index testing, allowing performance parameters to be assessed in terms of their relationship to contact pressure divided by cone index. Potentially useful relationships were identified for drawbar pull, sinkage, and powered torque. The new release of DROVE dataset can be used for several applications including evaluation of existing mobility models, development of improved algorithms, and validation of numerical simulations for tracked vehicles.
Keywords: Mobility; Database Records for Off-Road Vehicle Environments (DROVE); Tracked vehicle; Fine-grained soil; Drawbar pull; Motion resistance; Sinkage; Vehicle Terrain Interaction (VTI)