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Real-Time Traversability should be analyzed from the equiped sensors` data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on articulated unmanned ground vehicle demonstrate the method`s effectiveness and applicability into the traversability analysis on terrain with bumps.

A Dynamic Modeling of 6×6 Skid Type Vehicle for Real Time Traversability Analysis over Curved Driving Path