Enhancing the Passing Ability of Unmanned Vehicles Using a Variable-Wheelbase Driving System

A six-wheel driving system with a variable wheelbase is proposed to improve the passing ability of unmanned vehicles. As the first step, the effect of the wheelbase variation on the axle load distribution is analyzed. Next, the relationship between the wheelbase variation and rolling resistance is obtained by numerical calculation combined with the theory of terramechanics, and it shows that the traction performance of the vehicle can be optimized by adjusting the wheelbase. Considering the deformation of tires and soil, the mechanism of the effect of the change in wheelbase on the ability of the vehicle to overcome an obstacle and cross a trench is studied, and a variable-wheelbase strategy for a vehicle overcoming an obstacle and crossing a trench is then proposed on the basis of theoretical calculations. Finally, the rationality of the variable-wheelbase strategy is verified in simulation experiments.