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Stability Prediction for UGV Based on Drone-Borne LiDAR Terrain Mapping
Dávid Körmöczi1,2, Gábor Bércesi2, György Pillinger2
1Doctoral School of Mechanical Engineering, Hungarian University of Agriculture and Life Sciences, 2100 Gödöllő, Hungary.
Sensors (Basel, Switzerland)
|July 28, 2026
Summary
Vehicle stability is crucial for safety. This study assesses off-road vehicle stability, introducing LiDAR terrain mapping and a theoretical model validated by field measurements for accurate safety factor determination.
Area of Science:
- Engineering
- Robotics
- Automotive Safety
Background:
- Vehicle stability is a critical safety parameter.
- Off-road and on-road vehicle stability assessment requires distinct methodologies.
- Terrain-specific stability modeling is essential for off-road vehicles.
Purpose of the Study:
- To assess off-road vehicle stability.
- To present terrain vehicle-specific stability modeling methods.
- To introduce LiDAR-based terrain mapping for stability variable measurement.
Main Methods:
- Stability modeling tailored for terrain vehicles.
- LiDAR-based terrain mapping for environmental data acquisition.
- Field measurements using a small-scale remote-controlled vehicle.
Main Results:
- A theoretical stability model was developed and validated.
- Model-predicted stability values closely matched field measurements.
- The model's accuracy is sufficient when a safety factor is applied.
Conclusions:
- The theoretical model accurately describes off-road vehicle stability.
- Field measurements confirm the model's predictive capabilities.
- Further improvements to the stability modeling method are proposed.
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