Design and Implementation of Leveling and Balancing Algorithm for 6x6 Electric Unmanned Ground Vehicle with Active Hydro-Pneumatic Suspension System

This study centers on developing a leveling and balancing algorithm for a 6x6 electric unmanned ground vehicle (UGV) featuring an active hydro-pneumatic suspension system. UGVs have garnered considerable attention for their adaptability across diverse domains, making stability and levelness crucial for their success in challenging terrains. The research unveils an advanced algorithm for the active hydro- pneumatic suspension system, founded on a deep comprehension of UGV dynamics and environmental interactions. This algorithm computes the requisite arm system angles based on user inputs, ensuring the UGV adapts to shifting terrain conditions while preserving balance and stability. It continuously checks arm angles and pressure limits to guarantee safe operation. This study carries significance in its potential to heighten the overall performance and safety of autonomous ground vehicles. Leveraging active hydro-pneumatic suspension technology, the algorithm facilitates stable UGV operation. It enables the UGV to position and utilize attached equipment with stability, enhancing mission efficiency by executing elevation- depression and angular movements. UGVs can now effectively conduct tasks in challenging terrains, as demonstrated through successful real and Webots platform experiments. The algorithm has been seen to effectively balance and level the UGV based on user inputs and road characteristics. In conclusion, this study presents the design and implementation of a novel leveling and balancing algorithm for a 6x6 electric unmanned ground vehicle equipped with an active hydro-pneumatic suspension system.