Predicting the Mobility of Tracked Robotic Vehicles

摘要

Robotic vehicles are an attractive alternative to manned vehicles in hazardous or dangerous off road and urban environments. Present designs of robot vehicles employ wheels or tracks as the running gears and, in general, tracks provide superior mobility on rough or uneven terrain. This paper presents a multibody dynamics model of a tracked robotic vehicle for the purpose of predicting mobility in two different scenarios: 1) steep terrains, and 2) urban terrains in the form of staircases. In both scenarios we study the physical limitations on vehicle mobility imposed by key vehicle design variables and vehicle operating conditions. Example vehicle design variables include the location of the mass center, grouser penetration, and track/terrain friction. Example vehicle operating conditions include climbing under full versus partial track/terrain contact, and climbing on straight versus switch back courses.