Determination of the Speed of an Unmanned Rescue Vehicle
The article presents the process of determining the speed of an unmanned rescue vehicle.The conducted investigations involved a measurement system developed for testing dynamic lorries. The application of a test system for low-speed all-terrain vehicles was possible due to a wide measurement range of sensors. Speed was tested employing two following methods:an indirect method consisting of the measurement of the instantaneous rotational speed of the wheel;a direct method consisting of the measurement of speed against the ground, taken with an optical speed sensor.The authors also describe the sources of interferences characteristic of both methods that include:the wheelspin affecting the correctness of speed determination in the indirect measurement;the unevenness of the surface (ground) hindering the correct operation of the optical speed sensor.The paper also presents the characteristics of the rotational speed of the wheels obtained in road and off-road conditions. Based on the obtained signals, linear speed was determined. Additionally, the article discusses methods for eliminating measurement disturbances.
Algirdas V. Valiulis, Olegas Černašėjus and Vadim Mokšin
A. Zbrowski and W. Jóźwik, "Determination of the Speed of an Unmanned Rescue Vehicle", Solid State Phenomena, Vols. 220-221, pp. 940-945, 2015