RT Journal Article
T1 Inertia-based ICR Kinematic Model for Tracked Skid-Steer Robots
A1 Martínez, Jorge L.
A1 Morales-Rodríguez, Jesús
A1 Mandow, Anthony
A1 Pedraza, Salvador
A1 García-Cerezo, Alfonso José
K1 Robots autónomos
AB Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of inertial forces on track ICR positions. The study is based on dynamic simulations of a tracked mobile robot moving on hard horizontal terrain. Furthermore, a new kinematic model is defined in terms of three indices for sliding, eccentricity and steering efficiency. The proposed model allows to estimate actual track ICR positions as a function of inertia measurements and track speeds.
PB IEEE
YR 2017
FD 2017
LK http://hdl.handle.net/10630/14668
UL http://hdl.handle.net/10630/14668
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026