A Dynamic Model for Skid Steering of Tracked Vehicles on Firm Ground
- Resource Type
- Conference
- Authors
- Li, Boyuan; Niu, Zhihua; Liu, Shaoxun; Xia, Xue; Zhou, Shiyu; Wang, Rongrong
- Source
- 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Advanced Intelligent Mechatronics (AIM), 2022 IEEE/ASME International Conference on. :457-462 Jul, 2022
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Analytical models
Mechatronics
Tracking
Computational modeling
Simulation
Dynamics
Force
- Language
- ISSN
- 2159-6255
Tracked vehicle dynamic model is important for analyzing the dynamics of tracked vehicles and designing controllers for tracked vehicles. In this paper, a new view of the general theory for skid steering of tracked vehicles is put forward. Based on the general theory, a dynamic track force model used for 3 degrees of freedom (DOF) vehicle model is proposed for time-variant velocity. Simulation shows that the model requires moderate computation and that it can model tracked vehicles more precisely than the vehicle model based on general theory. The simulation result of the dynamic model in steady states is consistent with that of the general theory.