LAUSR

This study aims to provide a method to increase the mobility capabilities of wheeled military vehicles such as off-road trench and obstacle crossing by designing a preview control strategy based on model predictive control (MPC). The study is divided into three parts. The first part aims to create a vehicle dynamics model with active suspension and a co-simulation environment involving MATLAB® and MSC ADAMS/Car™. In the second part, the level of achievable improvement in the vehicle’s operational abilities is investigated. Here, it is aimed to develop a controller and optimize vehicle ride height and attitude for improving mobility operations. Measured road data is used to improve the controller performance and create an obstacle crossing algorithm. Finally, a comparison of simulation results for different land operation scenarios is given for both uncontrolled and controlled systems based on which improvement levels are determined.