The Kinematics of Tracked Vehicles via the Power Dissipation Method
Robotics
2020-11-05 v2 Systems and Control
Systems and Control
Abstract
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific models: a model for tracked operation on flat ground, a model for vehicle motion when the track's grouser tips touch the ground, and a model for operation on stairs. Experiments show that these models predict tracked vehicle motion more accurately than existing kinematic models, and predict phenomena which are not captured by other models. These novel models provide a basis for new feedback control approaches.
Keywords
Cite
@article{arxiv.2004.05176,
title = {The Kinematics of Tracked Vehicles via the Power Dissipation Method},
author = {Anushri Dixit and Joel Burdick},
journal= {arXiv preprint arXiv:2004.05176},
year = {2020}
}