Optimizing Gear Shifting Strategy for Off-Road Vehicle with Dynamic Programming

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td align="left">Symbol</td><td align="center">Explanation</td><td align="center">Equation</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td align="left"><span style="width: 35.4375px;"><svg height="15.4" id="M27" style="vertical-align:-3.25792pt" version="1.1" viewbox="0 0 35.4375 15.4" width="35.4375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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t29.5 81.5l72 387l7.5 40.5t1 26.5t-4 18t-15.5 10t-24 6t-37 4l8 28h461z" id="x1D439"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.637,15.187)"><path d="M696 437v-26q-37 -5 -50.5 -18.5t-28.5 -55.5q-36 -96 -120 -348h-29l-69.5 178.5l-52.5 132.5l-54.5 -141l-64.5 -170h-28q-71 229 -116 357q-13 39 -25.5 49.5t-48.5 15.5v26h207v-26q-45 -7 -53.5 -17t2.5 -44l74 -232h2l116 314h26q39 -111 120 -318h2q50 156 69 231
q10 38 0.5 48.5t-58.5 17.5v26h180z" id="x77"></path></g><g transform="matrix(.012,-0,0,-.012,18.812,15.187)"><path d="M135 536q-20 0 -35 15.5t-15 35.5q0 22 15 37t36 15t35.5 -15t14.5 -37q0 -21 -15 -36t-36 -15zM252 0h-220v26q48 5 59 17t11 63v206q0 47 -9 58t-54 18v24q78 12 142 39v-345q0 -51 11.5 -63t59.5 -17v-26z" id="x69"></path></g><g transform="matrix(.012,-0,0,-.012,22.001,15.187)"><path d="M524 0h-209v26q44 5 55 18t11 65v167q0 114 -91 114q-50 0 -109 -51v-235q0 -50 10 -61.5t55 -16.5v-26h-217v26q51 5 62 17t11 61v206q0 47 -9.5 58.5t-50.5 19.5v23q82 15 139 40v-79l67 47q47 30 83 30q60 0 94.5 -40t34.5 -112v-193q0 -50 10 -61.5t54 -16.5v-26z
" id="x6E"></path></g><g transform="matrix(.012,-0,0,-.012,28.474,15.187)"><path d="M517 51v-25q-101 -18 -155 -38v65l-61 -36q-50 -29 -78 -29q-68 0 -126.5 58t-58.5 155q0 103 77 175.5t180 72.5q36 0 67 -12v143q0 48 -11.5 58.5t-65.5 14.5v25q79 9 156 34v-597q0 -38 7.5 -48t36.5 -13zM362 85v275q-35 51 -103 51q-20 0 -40.5 -8.5t-42 -28
t-35 -57.5t-13.5 -89q0 -83 42 -130t96 -47q51 0 96 34z" id="x64"></path></g>
</svg></span></td><td align="center">Air drag</td><td align="center"><span style="width: 75.875px;"><svg height="34.025002" id="M28" style="vertical-align:-8.77812pt" version="1.1" viewbox="0 0 75.875 34.025002" width="75.875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,1.562,10.862)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
<g transform="matrix(1.25,0,0,-1.25,90,90)">
<path d="m -70.75,57.92 6.52,0" style="fill:none;stroke:#000000;stroke-width:0.68000001;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path>
</g>
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<g transform="matrix(.017,-0,0,-.017,27.213,21.937)"><path d="M716 28l-8 -28h-254l8 28q55 5 66 17.5t5 47.5l-30 145h-232l-74 -138q-21 -43 -11 -54.5t72 -17.5l-6 -28h-235l8 28q53 7 73.5 21t53.5 70l319 540l33 8q6 -43 33 -176l80 -381q10 -49 26.5 -63t72.5 -19zM495 281l-49 264h-2l-149 -264h200z" id="x1D434"></path></g>
<g transform="matrix(.012,-0,0,-.012,39.662,26.025)"><path d="M483 97q-42 -50 -88.5 -79.5t-68.5 -29.5q-37 0 -17 93l22 102h-2q-54 -79 -144 -149q-59 -46 -100 -46q-24 0 -43 29t-19 86q0 78 34.5 153t94.5 120q41 31 94 51.5t98 20.5q29 0 72 -9q26 -6 39 -6l2 -4q-30 -117 -67 -323q-8 -41 2 -41q16 0 79 58zM374 387
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<g transform="matrix(.017,-0,0,-.017,46.312,21.937)"><path d="M516 277q0 -126 -140 -231q-36 -27 -75.5 -42.5t-63.5 -15.5q-38 0 -73 43q-10 -44 -18 -106q-18 -134 -32 -151q-12 -16 -40 -25t-46 -10l-5 14q22 38 84 406q16 92 44.5 146.5t88.5 95.5q68 47 136 47q63 0 101.5 -47.5t38.5 -123.5zM432 259q0 61 -27 101t-79 40
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<g transform="matrix(.012,-0,0,-.012,55.475,26.975)"><path d="M483 97q-42 -50 -88.5 -79.5t-68.5 -29.5q-37 0 -17 93l22 102h-2q-54 -79 -144 -149q-59 -46 -100 -46q-24 0 -43 29t-19 86q0 78 34.5 153t94.5 120q41 31 94 51.5t98 20.5q29 0 72 -9q26 -6 39 -6l2 -4q-30 -117 -67 -323q-8 -41 2 -41q16 0 79 58zM374 387
q-32 15 -73 15q-52 0 -83 -23q-48 -36 -78 -108.5t-30 -152.5q0 -33 8.5 -50.5t20.5 -17.5q31 0 107 79t99 132q15 40 29 126z" id="x1D44E"></path></g>
<g transform="matrix(.017,-0,0,-.017,62.112,21.937)"><path d="M457 332q0 -81 -41 -161.5t-105.5 -131.5t-129.5 -51q-46 0 -79 30.5t-33 86.5q0 18 7 51q18 95 46 187q6 19 6 33q0 7 -7 7q-24 0 -78 -64l-20 23q32 48 73 77t78 29q33 0 33 -46q0 -38 -10 -70q-28 -92 -39 -152q-7 -38 -7 -57q0 -78 69 -78q68 0 118 75.5t50 194.5
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<g transform="matrix(.012,-0,0,-.012,69.475,13.775)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg></span></td></tr><tr><td align="left"><span style="width: 18.987499px;"><svg height="15.35" id="M29" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 18.987499 15.35" width="18.987499" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
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<g transform="matrix(.012,-0,0,-.012,10.637,15.187)"><path d="M627 18l-10 -26q-79 6 -116 27t-69 76q-41 71 -71 138q-13 29 -27.5 39t-42.5 10h-46l-27 -145q-13 -74 -2.5 -88.5t78.5 -20.5l-6 -28h-271l5 28q66 6 82.5 21.5t30.5 87.5l71 387q12 66 2 78.5t-77 19.5l8 28h233q102 0 147 -29q65 -43 65 -129q0 -69 -45.5 -117
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</svg></span></td><td align="center">Rolling resistance</td><td align="center"><span style="width: 73.175003px;"><svg height="12.1875" id="M30" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 73.175003 12.1875" width="73.175003" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.7)"><path d="M766 88q-40 -45 -83.5 -72.5t-63.5 -27.5q-39 0 -16 103l49 224q15 68 -10 68q-36 0 -112.5 -78.5t-105.5 -133.5q-27 -101 -38 -165q-35 -4 -77 -18l-6 6q42 153 70 288q12 55 10 78t-19 23q-38 0 -114 -80.5t-101 -131.5q-24 -68 -41 -165q-36 -3 -76 -18l-8 6
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t-20.5 85q0 74 32.5 145.5t84.5 117.5q40 35 100 58.5t117 23.5q21 0 65 -8q30 -6 44 -6zM456 386q-40 16 -81 16q-29 0 -64 -13q-42 -17 -85 -97q-19 -36 -31.5 -86t-12.5 -86q0 -64 30 -64q20 0 52.5 21t60.5 52q74 81 95 123q26 62 36 134z" id="x1D454"></path></g><g transform="matrix(.017,-0,0,-.017,23.147,7.7)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
<g transform="matrix(.012,-0,0,-.012,30.05,11.775)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,38.525,7.7)"><path d="M390 111l17 -21q-34 -45 -80 -73.5t-89 -28.5q-91 0 -146 62t-55 147q0 118 101 195q74 57 149 57h1q59 0 90 -27q16 -14 16 -30q0 -15 -12 -29t-21 -14q-8 0 -19 11q-44 41 -101 41q-52 0 -87.5 -42.5t-35.5 -117.5q0 -49 15 -87t39 -58t49 -30t48 -10q33 0 60.5 12
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q-28 12 -46 22.5t-38.5 27t-30.5 38.5t-10 49q0 54 42.5 92t109.5 38q48 0 88 -18q6 -15 13 -50.5t9 -55.5z" id="x73"></path></g><g transform="matrix(.017,-0,0,-.017,63.445,7.7)"><path d="M545 106q-67 -118 -134 -118q-24 0 -40 37.5t-30 129.5h-2q-47 -72 -103 -119.5t-108 -47.5q-47 0 -76 45.5t-29 119.5q0 113 85 204t174 91q47 0 70 -33.5t43 -119.5h3q32 47 80 140l55 13l10 -9q-47 -80 -138 -201q17 -99 27.5 -136t22.5 -37q23 0 69 61zM333 204
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</svg></span></td></tr><tr><td align="left"><span style="width: 26.5875px;"><svg height="18.3125" id="M31" style="vertical-align:-5.04861pt" version="1.1" viewbox="0 0 26.5875 18.3125" width="26.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
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</svg></span></td><td align="center">The gravitational force</td><td align="center"><span style="width: 58.625px;"><svg height="15.425" id="M32" style="vertical-align:-2.34499pt" version="1.1" viewbox="0 0 58.625 15.425" width="58.625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,10.925)"><path d="M766 88q-40 -45 -83.5 -72.5t-63.5 -27.5q-39 0 -16 103l49 224q15 68 -10 68q-36 0 -112.5 -78.5t-105.5 -133.5q-27 -101 -38 -165q-35 -4 -77 -18l-6 6q42 153 70 288q12 55 10 78t-19 23q-38 0 -114 -80.5t-101 -131.5q-24 -68 -41 -165q-36 -3 -76 -18l-8 6
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</svg></span></td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Optimizing Gear Shifting Strategy for Off-Road Vehicle with Dynamic Programming 