A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics
Octavian Alexa,
Ticușor Ciobotaru,
Lucian Ștefăniță Grigore,
Teodor Lucian Grigorie,
Amado Ștefan,
Ionica Oncioiu,
Iustin Priescu,
Cristina Vlădescu
Affiliations
Octavian Alexa
Department of Military Vehicles and Transportation, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Ticușor Ciobotaru
Department of Military Vehicles and Transportation, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Lucian Ștefăniță Grigore
Center of Excellence in Robotics and Autonomous Systems—CERAS, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Teodor Lucian Grigorie
Department Aerospace Sciences “Elie Carafoli”, University POLITEHNICA of Bucharest, 060042 Bucharest, Romania
Amado Ștefan
Department of Integrated Aviation Systems and Mechanics, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Ionica Oncioiu
Department of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, Romania
Iustin Priescu
Department of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, Romania
Cristina Vlădescu
Faculty of Psychology and Educational Sciences, University of Bucharest, 050663 Bucharest, Romania
This paper presents mathematical models to estimate the kinematics and dynamics of wheeled and tracked robots. The models account for the physical–mechanical characteristics of the ground, the influence of the center of gravity displacement on the cornering moment of resistance, and the influence of the interaction of the crawler with the roadway. The results of the models are characterized by defining computational relationships for a robot’s equations of motion, longitudinal forces, transverse forces, and resistive turning moments generated via longitudinal forces and transverse forces.
