2026-06-03T07:33:42Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/360762026-02-03T11:58:17Zcom_10630_2254col_10630_37959

ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes. Martínez-Rodríguez, Jorge Luis Morales-Rodríguez, Jesús Sánchez, Manuel García-Cerezo, Alfonso José Cinemática Vehículos autónomos Mecánica Kinematic model Ground vehicles Skid-steering Sloped terrain https://conferences.ieeeauthorcenter.ieee.org/author-ethics/guidelines-and-policies/post-publication-policies/#accepted 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. 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. 2025-01-09T12:47:09Z 2025-01-09T12:47:09Z 2024 2024 conference output AM 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. https://hdl.handle.net/10630/36076 10.1109/IROS58592.2024.10801776 eng IEEE/RSJ International Conference on Intelligent Robots and Systems 2024 Abu Dhabi, United Arab Emirates 14/10/2024 open access application/pdf IEEE