RT Conference Proceedings
T1 ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes.
A1 Martínez-Rodríguez, Jorge Luis
A1 Morales-Rodríguez, Jesús
A1 Sánchez, Manuel
A1 García-Cerezo, Alfonso José
K1 Cinemática
K1 Vehículos autónomos
K1 Mecánica
AB This paper proposes a new kinematic model for wheeled skid-steer vehicles moving with low inertia on firm slopes that is based on the variation of the Instantaneous Center of Rotation (ICR) of its lateral treads. To this end, the ICR- based model for horizontal surfaces, where constant tread ICRs were considered, has been extended with two additional parameters to account for the sliding down phenomenon on inclined terrains that the former is unable to predict. The current pitch and roll angles of the vehicle together with the speeds of the treads are employed to calculate the changing positions of tread ICRs during turnings. This kinematic approach shows promising results when applied to the heavy robotic rover J8 on a slanted surface of smooth concrete.
PB IEEE
YR 2024
FD 2024
LK https://hdl.handle.net/10630/36076
UL https://hdl.handle.net/10630/36076
LA eng
NO J. L. Martínez, J. Morales, M. Sánchez and A. García-Cerezo, "ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 1322-1328, doi: 10.1109/IROS58592.2024.10801776.
NO https://conferences.ieeeauthorcenter.ieee.org/author-ethics/guidelines-and-policies/post-publication-policies/#accepted
NO Spanish project PID2021-122944OB-I00. “SAR 4.0: Leapfrogging to a New Paradigm in Cooperative Human-Robot Cyber-physical Systems for Search and Rescue”. Ministerio de Ciencia e Innovación. Proyectos de Generación del Conocimiento 2021.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026