TY - GEN
T1 - Terramechanics-based modeling of locomotion characteristics of miniature tracked unmanned ground vehicle
AU - Ma, Yue
AU - Zhu, Quanmin
AU - Yan, Qingdong
AU - Zheng, Hailiang
AU - Winfield, Alan
PY - 2011
Y1 - 2011
N2 - Locomotion is the fundamental characteristics of miniature tracked unmanned ground vehicle (TUGV), and this paper presented the locomotion characteristics of TUGV based on the theory of terramechanics. Firstly, model of TUGV in longitudinal motion wa s established, which demonstrates the relationship of motor current, motor torque and driving force. Subsequently, longitudinal slip/skid characteristics of one track was modeled and based on which turning characteristics of TUGV with two tracks were proposed correspondingly. Finally, experiments were carried out to de monstrate the developed methodology and procedure, which proved the significant validity on the conditions affecting turning radius.
AB - Locomotion is the fundamental characteristics of miniature tracked unmanned ground vehicle (TUGV), and this paper presented the locomotion characteristics of TUGV based on the theory of terramechanics. Firstly, model of TUGV in longitudinal motion wa s established, which demonstrates the relationship of motor current, motor torque and driving force. Subsequently, longitudinal slip/skid characteristics of one track was modeled and based on which turning characteristics of TUGV with two tracks were proposed correspondingly. Finally, experiments were carried out to de monstrate the developed methodology and procedure, which proved the significant validity on the conditions affecting turning radius.
UR - http://www.scopus.com/inward/record.url?scp=80052086031&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80052086031
SN - 9780956715708
T3 - Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
SP - 92
EP - 97
BT - Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
T2 - 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
Y2 - 26 June 2011 through 29 June 2011
ER -