Research on the Passability Evaluation Model for Intelligent Tracked Vehicle on Soft Soils

According to the challenges of intelligent tracked vehicle transportation over soft soil ground, a novel evaluation system was developed using hook traction force as the primary performance metric. Under representative operational conditions, the maximum absolute deviation between the simulated hook traction forces and the theoretical predictions was 15.77%, confirming the model's suitability for engineering applications. First, building upon a dynamic soil-track interaction model, this study systematically derives analytical expressions for the maximum adhesion force and total driving resistance of tracked vehicles, thereby clarifying the fundamental mechanical principles governing mobility over deformable terrain. Second, leveraging hook traction force as the primary performance metric, a comprehensive traversability evaluation model is formulated - integrating soil mechanical properties, vehicle dynamics, and operational constraints - to enable quantitative assessment of intelligent tracked vehicle transport capability on soft soils. Finally, the model's accuracy and reliability are rigorously validated through both field vehicle tests and numerical simulations. The proposed evaluation system enables rapid, precise, and terrain-adaptive assessment of intelligent tracked vehicle performance across challenging off-road environments, providing essential technical support for autonomous path planning and contributing to the advancement of intelligent off-road tracked vehicle systems.