The Kinematics of Tracked Vehicles via the Power Dissipation Method

TL;DR

This paper introduces a new quasi-static modeling framework for tracked vehicles using the power dissipation method, improving motion prediction accuracy and capturing phenomena missed by previous models, with applications in control strategies.

Contribution

The paper presents three novel models for tracked vehicle kinematics on flat ground, stairs, and when grousers contact ground, advancing beyond existing models.

Findings

Models outperform existing kinematic models in accuracy.

Predict phenomena not captured by previous models.

Provide a foundation for new feedback control methods.

Abstract

This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific models: a model for tracked operation on flat ground, a model for vehicle motion when the track's grouser tips touch the ground, and a model for operation on stairs. Experiments show that these models predict tracked vehicle motion more accurately than existing kinematic models, and predict phenomena which are not captured by other models. These novel models provide a basis for new feedback control approaches.