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

Octavian Alexa, Ticușor Ciobotaru, Lucian Ștefăniță Grigore, Teodor Lucian Grigorie, Amado Ștefan, Ionica Oncioiu (), Iustin Priescu and Cristina Vlădescu
Additional contact information
Octavian Alexa: Department of Military Vehicles and Transportation, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Ticușor Ciobotaru: Department of Military Vehicles and Transportation, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Lucian Ștefăniță Grigore: Center of Excellence in Robotics and Autonomous Systems—CERAS, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Teodor Lucian Grigorie: Department Aerospace Sciences “Elie Carafoli”, University POLITEHNICA of Bucharest, 060042 Bucharest, Romania
Amado Ștefan: Department of Integrated Aviation Systems and Mechanics, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Ionica Oncioiu: Department of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, Romania
Iustin Priescu: Department of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, Romania
Cristina Vlădescu: Faculty of Psychology and Educational Sciences, University of Bucharest, 050663 Bucharest, Romania

Mathematics, 2023, vol. 11, issue 17, 1-20

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.

Keywords: kinematics; dynamics; trajectory; wheel; track (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/11/17/3735/pdf (application/pdf)
https://www.mdpi.com/2227-7390/11/17/3735/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:11:y:2023:i:17:p:3735-:d:1229354

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().