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A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics

Author

Listed:
  • 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
    Department of Economic Sciences, Faculty of Economic Sciences, 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)

Abstract

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.

Suggested Citation

  • Octavian Alexa & Ticușor Ciobotaru & Lucian Ștefăniță Grigore & Teodor Lucian Grigorie & Amado Ștefan & Ionica Oncioiu & Iustin Priescu & Cristina Vlădescu, 2023. "A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics," Mathematics, MDPI, vol. 11(17), pages 1-20, August.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:17:p:3735-:d:1229354
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    References listed on IDEAS

    as
    1. Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.
    2. Haneul Jeon & Donghun Lee, 2023. "Explicit Identification of Pointwise Terrain Gradients for Speed Compensation of Four Driving Tracks in Passively Articulated Tracked Mobile Robot," Mathematics, MDPI, vol. 11(4), pages 1-16, February.
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