RT Journal Article
T1 Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
A1 Martínez-Rodríguez, Jorge Luis
A1 Morales-Rodríguez, Jesús
A1 García-Caicedo, Jesús Marcey
A1 García-Cerezo, Alfonso José
K1 Vehículos
AB The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain with constant local coordinates, which allows to establish an equivalence with differential-drive locomotion. However, this significant kinematic relationship has not been analyzed yet on sloped ground. One relevant difficulty of studying ICR behavior on inclined terrain, even on a flat surface, is the continuous variation of pitch and roll angles while turning. To overcome this problem, this paper analyzes a dynamic simulation of a skid-steer vehicle on horizontal ground where gravity is substituted by an equivalent external force in such a way that pitch and roll are kept constant. Relevant tread ICR variations on inclined ground have been deduced, which have a significant impact on skid-steer kinematics. These new findings have been corroborated experimentally with a four-wheeled mobile robot that turns on an inclined plane.
PB IEEE
YR 2023
FD 2023
LK https://hdl.handle.net/10630/29460
UL https://hdl.handle.net/10630/29460
LA eng
NO J. L. Martínez, J. Morales, J. M. García and A. García-Cerezo, "Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain," in IEEE Access, vol. 11, pp. 547-555, 2023, doi: 10.1109/ACCESS.2022.3232954. keywords: {Kinematics;Vehicle dynamics;Wheels;Dynamics;Mathematical models;Gravity;Dynamic simulations;ground vehicles;kinematics;skid-steering;sloped terrain},
NO Spanish Project PID2021-122944OB-I00
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026