Position Estimation Method for Unmanned Tracked Vehicles Based on a Steering Dynamics Model

Abstract

A position estimation method for unmanned tracked vehicles based on a steering dynamics model was developed during this study. This method can be used to estimate the position of a tracked vehicle in real time without relying on a high-precision positioning system. First, the relationship between the shear displacement of the track relative to the ground and the speed and yaw rate of the tracked vehicle during the steering process was analyzed. Next, the steering force of the tracked vehicle was calculated by using the shear force–displacement theory, and a steering dynamics model considering the acceleration of the vehicle was established. The experimental results show that this steering dynamics model produced more accurate position estimations for an unmanned tracked vehicle than did the kinematics model. This method can serve as a reference for the positioning of unmanned tracked vehicles working in special environments that cannot use precise positioning systems.