Dynamic Quantitative Analysis for Large Scale Skid-Steered UGV

A novel and academically rigorous approach is presented in this study, which focuses on analyzing the steering characteristics of a large-scale skid-steered unmanned ground vehicle (UGV) through the development of a kinetic model based on movement characteristics and moving rules. The model construction process carefully incorporates the steering characteristics, along with crucial geometric and kinematic features. Experimental validation is carried out using a specially designed large-scale UGV. Preliminary experiments reveal that the occurrence of slippage introduces lower errors in actual velocity measurements between the two sides of the UGV compared to obtained from direct wheel velocity. Moreover, the width of the UGV is observed to be significantly larger than its actual value. Subsequent experiments employ an Inertial Navigation System (INS) to acquire highly accurate measurements of the UGV’s moving velocity. By utilizing the standard velocities derived from the precise moving velocity measurements, the real-time calculation of the actual turning radius is made possible while fully accounting for the slippage characteristics. This comprehensive validation process serves to substantiate the proposed kinetic model effectively. This work introduces a promising avenue for investigating the slippage characteristics, particularly for this specific type of UGV, thereby contributing to both academic research and practical engineering operations.