TY - JOUR N2 - The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle. L1 - http://journals.pan.pl/Content/85117/PDF/ame-2016-0011.pdf L2 - http://journals.pan.pl/Content/85117 PY - 2016 IS - No 2 EP - 213 DO - 10.1515/meceng-2016-0011 KW - vehicle dynamics KW - multibody dynamics KW - constraint embedding A1 - Jain, Abhinandan A1 - Kuo, Calvin A1 - Jayakumar, Paramsothy A1 - Cameron, Jonathan PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 63 DA - 2016.06.29 T1 - Constraint embedding for vehicle suspension dynamics SP - 193 UR - http://journals.pan.pl/dlibra/publication/edition/85117 T2 - Archive of Mechanical Engineering ER -