Title: A low-order dynamic model of a tracked robot inclusive of non-linear slip

Authors: Adam J. Dean, Sean N. Brennan

Addresses: Department of Mechanical Engineering, Pennsylvania State University, 318 Leonhard Building, University Park, PA 16802, USA. ' Department of Mechanical Engineering, Pennsylvania State University, 318 Leonhard Building, University Park, PA 16802, USA

Abstract: This work presents results of low-order modelling of the planar dynamics of a tracked robot focusing on the coupled lateral, rotational, and longitudinal dynamics. This model is validated experimentally using a novel rolling roadway simulator that allows for uniform surface interaction as well as accurate sensing of vehicle position and orientation at high bandwidth. Comparing simulations to experimental tests using aggressive planar manoeuvres, the model was found to capture major components of chassis behaviour even for combined manoeuvres, for example lane changes while accelerating or decelerating, or lane changes during a steady turn.

Keywords: tracked vehicles; mathematical modelling; simulation; vehicle-terrain interaction; motion control; friction; rolling roadway simulator; dynamic modelling; tracked robots; nonlinear slip; planar dynamics; surface interaction; vehicle pose; vehicle position; vehicle orientation; robotic vehicles; chassis behaviour; lane changes.

DOI: 10.1504/IJHVS.2008.022248

International Journal of Heavy Vehicle Systems, 2008 Vol.15 No.2/3/4, pp.327 - 355

Available online: 24 Dec 2008 *

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