2026-05-28T17:49:36Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/294602026-02-03T11:35:39Zcom_10630_2254col_10630_37953

Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain Martínez-Rodríguez, Jorge Luis Morales-Rodríguez, Jesús García-Caicedo, Jesús Marcey García-Cerezo, Alfonso José Vehículos 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. 2024-01-31T09:30:11Z 2024-01-31T09:30:11Z 2024-01-31T09:30:11Z 2023 journal article 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}, https://hdl.handle.net/10630/29460 10.1109/ACCESS.2022.3232954 eng http://creativecommons.org/licenses/by-nc-nd/4.0/ open access Attribution-NonCommercial-NoDerivatives 4.0 Internacional IEEE