Stuck State Avoidance in Work Vehicle's Control with Hybrid Twin Framework

This paper suggests an IoT device utilization for skid suppression for work vehicles in the framework of Hybrid Twin and the performances of IoT utilization are experimentally evaluated. In the autonomous driving of work vehicles, stuck state or lock state should be avoided because it is very difficult to escape from these states autonomously. First of all, a state transition diagram consisting of grip, skid, stuck and lock states is configured and a skid ratio is newly defined to measure the degree of skid. Then, a three-stage skid suppression method is suggested based on skid ratio and a controlling system is implemented by using MATLAB/Simulink. Using an actual snow blower, an IoT device with some filtering processes is incorporated and the three-stage skid suppression method is applied. The experimental results show that the suggested approach is feasible but not a three-stage but a two-stage skid suppression method is likely to be efficient because of insufficient noise reduction. As future work, the noise reduction should be improved and the skid suppression method should be implemented in a Hybrid Twin approach.