Approximating Kinematics for Tracked Mobile Robots-优快云博客

Idea

在运动平面上的瞬时旋转中心是相对于robot是dynamics-dependent，but lie within a bounded area. Thus, optimizing constant ICR positions for a particular terrain results in an approximate kinematic model for tracked mobile robots.

Introduction

Tracked Mobile Robot 现在有如下这几种streer的方式：

articulated steering
curved track steering
skid steering
这种是现在最常使用的，因为it is simpler from the mechanical standpoint and it achieves a faster response.

skid steering现在存在的问题：
variation of the relative velocity of the two tracks results in slippage as well as soil shearing and compacting in order to achieve steering. 这导致的最终问题就是：kinematics is not straightforward, since it is not possible to predict the exact motion of the vehicle only from the control inputs.

Approach

这篇文章提出的方法就是model kinematics for tracked vehicles by obtaining a geometric analogy with a wheeled differential drive model. 然后对模型进行参数辨识。
做出的假设：planar uniform hard terrain type and mobile robot operation at moderate speeds

Kinematics for Tracked Vehicles

kinematics:
$v_{x}, v_{y}, w_{z}) = f_{d}(V_{l}, V_{r})$
inverse kinematics:
$V_{l}, V_{r}) = f_{i}(v_{x}, v_{y}, w_{z})$

接下来就引入这篇文章中最重要的概念：瞬时旋转中心 Instantaneous Center of Rotation ( $ICR_{v}$ )
ICR is defined as the point in the horizontal plane where the motion of the vehicle can be represented by a rotation and no translation occurs.