Experimental Investigation on Traction, Mobility, and Energy Usage of a Tracked Autonomous Ground Vehicle on a Sloped Soil Bin

HighlightsLaying the groundwork for AGV mobility models for high slope terrain operations.AGV drawbar pull performance was evaluated on a level terrain, uphill, and downhill slopes up to 18° on a soil bin.AGV generates the optimum power efficiency with enough drawbar pull to perform a range of agricultural operations on uphill and downhill slopes up to 18°.Explored the suitability and established the boundary conditions of small size ground vehicles on the high slope farming.Generated sloped traction data would empower the multi-AGV system on sloped terrain.Abstract. Excessive steepness of grasslands, hills, or uneven terrain presents difficulties for farming with large conventional equipment. Therefore, a fleet of Autonomous Ground Vehicles (AGV) is proposed to perform primary agricultural operations on high sloped hills or terrain. However, it is imperative to understand how an individual AGV functions on sloping terrain under varying load and speed. Hence, this study aims to investigate the traction, mobility, and energy consumption characteristics of AGV on a sloped soil bin environment. A drawbar pull performance of the prototype AGV was evaluated on a level terrain and variable slope of 10° and 18°, both uphill and downhill, at varying drawbar pull (P) and AGV speed. The AGV’s performance metrics include power efficiency (PE), travel reduction (TR), and power number (PN) which relates to AGV’s traction, mobility, and energy usage, respectively. The AGV generated drawbar pull equivalent to its weight only on downhill run for reduced PE. On a level terrain (0°), the peak PE was 0.20 and was found to be 108.3% and 328.6% higher on 10° and 18° downhill run than uphill with 55.5% and 133% increase in drawbar pull, respectively. Both applied drawbar pull and uphill operation caused the AGV’s TR. The TR, corresponding to a peak PE, increased from 10% to 30%, respectively, on 0° and both 10° and 18° uphill. The optimum values of power number ranged from 2 to 4. The AGV delivers the optimum PE and generates enough drawbar pull with an optimum TR to perform a range of agricultural operations on a slope up to 18°. This study explored the suitability and established the boundary conditions of small size ground vehicles for high-sloped farming. Besides this, the study also aims to generate an AGV’s slope traction database to optimize its control variables, design optimization, and develop a mobility model for sloped terrain. Keywords: Drawbar pull, Ground vehicle, Multi-AGV fleet, Power efficiency, Slope, Travel reduction.