  Enabling high speed navigation of Unmanned Ground Vehicles (UGVs) in unknown
rough terrain where limited or no information is available in advance requires
the assessment of terrain in front of the UGV. Attempts have been made to
predict the forces the terrain exerts on the UGV for the purpose of determining
the maximum allowable velocity for a given terrain. However, current methods
produce overly aggressive velocity profiles which could damage the UGV. This
paper presents three novel safer methods of force prediction that produce
effective velocity profiles. Two models, Instantaneous Elevation Change Model
(IECM) and Sinusoidal Base Excitation Model: using Excitation Force (SBEM:EF),
predict the forces exerted by the terrain on the vehicle at the ground contact
point, while another method, Sinusoidal Base Excitation Model: using
Transmitted Force (SBEM:TF), predicts the forces transmitted to the vehicle
frame by the suspension.
