Terramechanics-based modeling of locomotion characteristics of miniature tracked unmanned ground vehicle

Locomotion is the fundamental characteristics of miniature tracked unmanned ground vehicle (TUGV), and this paper presented the locomotion characteristics of TUGV based on the theory of terramechanics. Firstly, model of TUGV in longitudinal motion wa s established, which demonstrates the relationship of motor current, motor torque and driving force. Subsequently, longitudinal slip/skid characteristics of one track was modeled and based on which turning characteristics of TUGV with two tracks were proposed correspondingly. Finally, experiments were carried out to de monstrate the developed methodology and procedure, which proved the significant validity on the conditions affecting turning radius.