A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics-Reference-Cited by-同舟云学术

A Review of Mathematical Models Used to Estimate Wheeled and Tracked Unmanned Ground Vehicle Kinematics and Dynamics

Published:2023-08-30 Issue:17 Volume:11 Page:3735
ISSN:2227-7390
Container-title:Mathematics
language:en
Short-container-title:Mathematics

Author:

Alexa Octavian¹,Ciobotaru Ticușor¹,Grigore Lucian Ștefăniță²^ORCID,Grigorie Teodor Lucian³,Ștefan Amado⁴,Oncioiu Ionica⁵⁶,Priescu Iustin⁵,Vlădescu Cristina⁷

Affiliation:

1. Department of Military Vehicles and Transportation, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania

2. Center of Excellence in Robotics and Autonomous Systems—CERAS, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania

3. Department Aerospace Sciences “Elie Carafoli”, University POLITEHNICA of Bucharest, 060042 Bucharest, Romania

4. Department of Integrated Aviation Systems and Mechanics, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania

5. Department of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, Romania

6. Department of Economic Sciences, Faculty of Economic Sciences, Titu Maiorescu University, 040051 Bucharest, Romania

7. Faculty of Psychology and Educational Sciences, University of Bucharest, 050663 Bucharest, Romania

Abstract

This paper presents mathematical models to estimate the kinematics and dynamics of wheeled and tracked robots. The models account for the physical–mechanical characteristics of the ground, the influence of the center of gravity displacement on the cornering moment of resistance, and the influence of the interaction of the crawler with the roadway. The results of the models are characterized by defining computational relationships for a robot’s equations of motion, longitudinal forces, transverse forces, and resistive turning moments generated via longitudinal forces and transverse forces.

Funder

Ministry of Research, Innovation and Digitization, CNCS—UEFISCDI

Publisher

MDPI AG

Subject

General Mathematics,Engineering (miscellaneous),Computer Science (miscellaneous)

Link

https://www.mdpi.com/2227-7390/11/17/3735/pdf

Reference44 articles.

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