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Journal articles on the topic 'Tracked vehicle'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Zhang, Yu, Mianhao Qiu, Xixia Liu, et al. "Research on Characteristics of Tracked Vehicle Steering on Slope." Mathematical Problems in Engineering 2021 (January 31, 2021): 1–18. http://dx.doi.org/10.1155/2021/3592902.

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A special design is needed for an unmanned tracked vehicle (UTV) to meet the requirements of off-road environments and complex tasks. A loose surface is the main terrain for tracked vehicles in off-road driving. Slope steering is inevitable while driving in such conditions; hence, its performance is a major concern for tracked vehicles on loose terrain. This study investigates the slope steering performance of a tracked vehicle. An improved dynamic steering model is proposed when considering the shear stress-shear displacement relation of soil at the track-ground interface. The influence of gr

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Jia, Weijian, Xixia Liu, Chuanqing Zhang, Dabing Xue, and Shaoliang Zhang. "Position Estimation Method for Unmanned Tracked Vehicles Based on a Steering Dynamics Model." World Electric Vehicle Journal 15, no. 3 (2024): 120. http://dx.doi.org/10.3390/wevj15030120.

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A position estimation method for unmanned tracked vehicles based on a steering dynamics model was developed during this study. This method can be used to estimate the position of a tracked vehicle in real time without relying on a high-precision positioning system. First, the relationship between the shear displacement of the track relative to the ground and the speed and yaw rate of the tracked vehicle during the steering process was analyzed. Next, the steering force of the tracked vehicle was calculated by using the shear force–displacement theory, and a steering dynamics model considering

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Zhou, Chong Kai, Ya Yu Huang, and Li Ni. "The Dynamics Simulation of Tracked Vehicles on the Hard and Soft Ground Based on the RecurDyn." Advanced Materials Research 842 (November 2013): 351–54. http://dx.doi.org/10.4028/www.scientific.net/amr.842.351.

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In order to accurately study a tracked vehicle movement on the ground in hard and soft features, this paper uses multi-body dynamics simulation software RecurDyn tracked vehicle subsystems Track (LM), establishing a three-dimensional multi-body vehicle dynamics model. For tracked vehicles at an inclination of 10 degrees slope, through the soft and hard ground steering process dynamics simulation and comparative analysis. This paper provides an accurate basis for the future in-depth research on Tracked vehicle.

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4

Jia, Weijian, Xixia Liu, Chuanqing Zhang, et al. "Research on Steering Stability of High-Speed Tracked Vehicles." Mathematical Problems in Engineering 2022 (November 8, 2022): 1–12. http://dx.doi.org/10.1155/2022/4850104.

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The high-speed steering control of tracked vehicles has been studied thoroughly, but the high-speed steering stability boundary of tracked vehicles has rarely been investigated. The establishment of a dynamics model with a high computational accuracy is the premise of studying the high-speed steering stability boundary of tracked vehicles. In this work, the track forces of tracked vehicles during steering were determined based on a shear stress model, and the steering dynamics model of tracked vehicles was established. A zero-differential-steering tracked vehicle was used as the object of stud

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5

Li, Jianfeng, Amir Khajepour, Yanjun Huang, Hong Wang, Chen Tang, and Yechen Qin. "A new coordinated control strategy for tracked vehicle ride comfort." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 232, no. 3 (2017): 330–41. http://dx.doi.org/10.1177/1464419317734950.

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To improve tracked vehicle ride comfort and minimize weapon's vibration, a coordinated control strategy is developed for tracked vehicles' semi-active suspension systems. A model with eight degrees-of-freedom for a tracked vehicle equipped with magnetorheological dampers is established, and is followed by the formulation of a sliding mode controller. The proposed control algorithm is a localized-based controller that can change its target location in the tracked vehicle to where it is needed most. A co-simulation system model including a six-wheel tracked vehicle multi-body dynamics model, coo

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6

Pratama, Agung Yusuf, Muhammad Ridwan Lubis, Anjar Wanto, Indra Gunawan, and Ika Okta Kirana. "Penggunaan Sistem GPS Untuk Keamanan Kendaraan Dengan Kontrol SMS Menggunakan Mikrokontroler Arduino." BEES: Bulletin of Electrical and Electronics Engineering 2, no. 1 (2021): 29–34. http://dx.doi.org/10.47065/bees.v2i1.803.

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Motor vehicle theft cases still often occur around us, this happens because there is still a lack of security systems in motorized vehicles that only use ignition keys and key covers, where the weakness of standard security systems like this has been understood by perpetrators of motor vehicle theft. to perform the action. The need for additional security systems is felt to be very necessary, in order to avoid the occurrence of motor vehicle theft. To overcome all this, a motor vehicle security system was created using SMS with an Arduino-based GPS tracking method, to create a GPS Tracker that

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7

Dong, Chao, Kai Cheng, Kangle Hu, and WenQiang Hu. "Dynamic modeling study on the slope steering performance of articulated tracked vehicles." Advances in Mechanical Engineering 9, no. 7 (2017): 168781401771241. http://dx.doi.org/10.1177/1687814017712418.

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Articulated tracked vehicles are used as special off-road transportation vehicles, and their mobility is gaining more attention now than before. As an important evaluation indicator of the mobility of articulated tracked vehicles, steering performance receives wide attention in particular. Most of the present studies focus on the planar steering performance; few studies employing current models concentrate on the slope steering performance of articulated tracked vehicles. To address this research gap, this study proposes a dynamic modeling method for analyzing the slope steering performance of

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8

Liu, Zunle, Jing Yang, Shuaida Li, and Guoxun Fu. "Analysis of Safety Driving Factors for Tracked Vehicles." Journal of Safety Science and Engineering 1, no. 2 (2024): 35–39. http://dx.doi.org/10.62517/jsse.202408207.

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With the development of society and advances in technology, various tracked engineering vehicles have continuously emerged to adapt to various complex terrains. While improving efficiency, the safety of driving tracked vehicles has become a focus of attention for various units. Unlike small local vehicles, tracked vehicles mainly differ in their longer and wider bodies, complex steering, and limited visibility, which is unfavorable for observation. Therefore, driving tracked vehicles is more difficult than ordinary wheeled vehicles, and it requires higher skills for tracked vehicle drivers. Cu

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9

Wong, J. Y. "Optimization of the Tractive Performance of Articulated Tracked Vehicles Using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 206, no. 1 (1992): 29–45. http://dx.doi.org/10.1243/pime_proc_1992_206_158_02.

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This paper describes the results of a study of the effects of articulation joint configuration, suspension characteristics, location of the centre of gravity and initial track tension on the mobility of a two-unit, articulated tracked vehicle. The study was carried out using a comprehensive computer simulation model known as NTVPM-86. The results show that suspension characteristics, location of the centre of gravity and initial track tension have noticeable effects on the mobility of articulated tracked vehicles over marginal terrain, while the articulation joint angle has a less significant

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10

Han, Jiangyi, Fan Wang, and Yuhang Wang. "A Control Method for the Differential Steering of Tracked Vehicles Driven Independently by a Dual Hydraulic Motor." Applied Sciences 12, no. 13 (2022): 6355. http://dx.doi.org/10.3390/app12136355.

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It is well known that tracked vehicles can adapt well to all kinds of terrain. However, the safety of tracked vehicles should be considered during steering on sloped terrain. This paper focuses on the differential steering control of tracked vehicles independently driven by a hydraulic motor. Firstly, the dynamic model of hydrostatic drive system was built and the kinematics and dynamics of differential steering driving were analyzed theoretically. Secondly, in order to prevent rollover of the tracked vehicle, the method of vehicle speed constraint was proposed. The constraint conditions of ve

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11

Rauf, Omer, Yang Ning, Chen Ming, and Ma Haoxiang. "Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions." Sensors 24, no. 6 (2024): 1779. http://dx.doi.org/10.3390/s24061779.

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Trafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility. This paper investigates the soil mechanical interaction dynamics between rubber-tracked vehicles and sedimental soils through controlled laboratory-simulated experiments. Focusing on Bentonite and Diatom sedimental soils, which possess distinct shear properties from typical land soils, the study employs innovative user-written subroutines to characterize mechanical models linked to the RecurDyn

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12

Milićević, Stefan, and Ivan Blagojević. "Theoretical model of high-speed tracked vehicle general motion." FME Transactions 51, no. 3 (2023): 449–56. http://dx.doi.org/10.5937/fme2303449m.

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This paper presents a systematically derived theoretical model for the motion of tracked vehicles, encompassing various scenarios such as soft terrain and slopes. The model considers all the resistances encountered by tracked vehicles, including track-terrain interaction, grade and air resistance, centrifugal force, inertial forces, and turning resistance. The heading angle determines the geometrical orientation of the vehicle on the slope. A MATLAB model of tracked vehicle general motion was established based on theoretical discussions. The paper discusses the steering performance of tracked

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13

Wong, Jo Y., Paramsothy Jayakumar, and Jon Preston-Thomas. "Evaluation of the computer simulation model NTVPM for assessing military tracked vehicle cross-country mobility." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 5 (2018): 1194–213. http://dx.doi.org/10.1177/0954407018765504.

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In the United States and some other NATO (North Atlantic Treaty Organization) countries, the NATO Reference Mobility Model is currently used to evaluate military ground vehicle mobility. The module of the NATO Reference Mobility Model for predicting the cross-country performance of military vehicles is empirically based and was developed using test data collected decades ago. The NATO Reference Mobility Model has inherent limitations, such as the uncertainty whether its empirical relations can be extrapolated beyond the test conditions upon which they were derived or whether it can be used for

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14

Gao, Y., and J. Y. Wong. "The Development and Validation of a Computer Aided Method for Design Evaluation of Tracked Vehicles with Rigid Links." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 208, no. 3 (1994): 207–15. http://dx.doi.org/10.1243/pime_proc_1994_208_183_02.

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In the past decade, a computer aided method for design evaluation of high-speed tracked vehicles with flexible tracks (or tracks with relatively short track pitch commonly in use in tracked transport vehicles and military vehicles) has been developed. It has been successfully used in assisting vehicle manufacturers in the development of new products and governmental agencies in the selection of vehicle candidates. For low-speed tracked vehicles commonly in use in agriculture, construction and logging, rigid tracks with relatively long track pitch are employed to achieve a more uniform ground p

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15

Shiller, Zvi, and William Serate. "Trajectory Planning of Tracked Vehicles." Journal of Dynamic Systems, Measurement, and Control 117, no. 4 (1995): 619–24. http://dx.doi.org/10.1115/1.2801122.

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This paper presents a method for computing the track forces and track speeds of planar tracked vehicles, required to follow a given path at specified speeds on horizontal and inclined planes. It is shown that the motions of a planar tracked vehicle are constrained by a velocity dependent nonholonomic constraint, derived from the force equation perpendicular to the tracks. This reduces the trajectory planning problem to determining the slip angle between the vehicle and the path tangent that satisfies the nonholonomic constraint along the entire path. Once the slip angle has been determined, th

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16

Liu, Jun, Shuoyan Yang, and Ziheng Xia. "Control of Pivot Steering for Bilateral Independent Electrically Driven Tracked Vehicles Based on GWO-PID." World Electric Vehicle Journal 15, no. 6 (2024): 231. http://dx.doi.org/10.3390/wevj15060231.

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In this study, the optimization problem for controlling the pivot steering function of tracked vehicles is addressed. Firstly, kinematic modeling of the pivot steering process of tracked vehicles is conducted. Secondly, the control system of tracked vehicles is decoupled, and PID control algorithms for vehicle speed and yaw rate are separately designed. Furthermore, the parameters of the PID controllers are optimized using the Grey Wolf Optimizer algorithm. Finally, by constructing a joint simulation model using Matlab/Simulink + RecurDyn (V9R4), the simulation results indicate that the above

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17

Fiedeń, Mateusz. "Kinematic Analysis of an Omnidirectional Tracked Vehicle." Applied Sciences 15, no. 11 (2025): 6111. https://doi.org/10.3390/app15116111.

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This article addresses the problem of controlling an omni-tracked vehicle equipped with parallel, fully overlapping omnidirectional tracks. A kinematic model is presented that enables the determination of the vehicle body’s displacement relative to the ground, regardless of the orientation of the free rollers. The objective of this study is to demonstrate the potential of using the proposed model for controlling an omni-tracked vehicle. The novelty of this work lies in the modular approach—isolating a unit composed of two omni-tracks from the overall vehicle structure. A numerical model of the

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18

Jia, Weijian, Xixia Liu, Guodong Jia, Chuanqing Zhang, and Bin Sun. "Research on the Prediction Model of Engine Output Torque and Real-Time Estimation of the Road Rolling Resistance Coefficient in Tracked Vehicles." Sensors 23, no. 17 (2023): 7549. http://dx.doi.org/10.3390/s23177549.

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Road parameter identification is of great significance for the active safety control of tracked vehicles and the improvement of vehicle driving safety. In this study, a method for establishing a prediction model of the engine output torques in tracked vehicles based on vehicle driving data was proposed, and the road rolling resistance coefficient f was further estimated using the model. First, the driving data from the tracked vehicle were collected and then screened by setting the driving conditions of the tracked vehicle. Then, the mapping relationship between the engine torque Te, the engin

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19

Wong, J. Y., and J. Preston-Thomas. "Investigation into the Effects of Suspension Characteristics and Design Parameters on the Performance of Tracked Vehicles using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Transport Engineering 202, no. 3 (1988): 143–61. http://dx.doi.org/10.1243/pime_proc_1988_202_169_02.

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This paper describes the results of an investigation into the effects of the characteristics of the suspension system, initial track tension, vehicle weight and location of the centre of gravity on the tractive performance of tracked vehicles over unprepared terrain. The investigation was carried out using a newly developed computer simulation model NTVPM-86. The results show that the suspension characteristics, initial track tension and vehicle weight have noticeable effects on the mobility of tracked vehicles over marginal terrain, while the location of the centre of gravity, within the norm

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20

Fang, Yuan, Yunan Zhang, Nianyu Li, and Yinghui Shang. "Research on a medium-tracked omni-vehicle." Mechanical Sciences 11, no. 1 (2020): 137–52. http://dx.doi.org/10.5194/ms-11-137-2020.

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Abstract. Existing omnidirectional vehicles have disadvantages of poor load capacities and practicability. Based on the omnidirectional mobile track and an adapted symmetrical layout, a novel medium-tracked omni-vehicle was designed. The kinematic and dynamic model of the vehicle was established, and the anisotropy of the velocity and acceleration of the vehicle was analyzed. With a counterbalanced forklift as the design goal, a virtual prototype and real prototype of the vehicle were established. The prototype had a no-load weight of 5 t and a full-load weight of 7 t. Simulations and experime

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21

Taratorkin, Igor, Victor Derzhanskii, and Alexander Volkov. "Stabilization of transport tracked vehicle trajectory." MATEC Web of Conferences 224 (2018): 02038. http://dx.doi.org/10.1051/matecconf/201822402038.

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The article presents the research findings of the controlled motion dynamics of tracked vehicles equipped with a steering system with discrete properties. It is established that the potential high-speed performance is limited by motion instability and by dynamic properties i.e. the phase lag of the vehicle response to the harmonic control input and the “engine overshoot” to a unit step function (steering jerk). Technical proposals allowing for the high-speed performance of the vehicle are substantiated, such as yaw moment control, which ensures the positive-difference of the partial differenti

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22

Chen, Jian Hua, Xi Hui Mu, Feng Po Du, and Kai Lv. "Study on Dynamics of Small Tracked Steering on Ramp." Advanced Materials Research 798-799 (September 2013): 586–89. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.586.

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This vehicle is mainly used for transportation of materials at a short distance in a variety of harsh terrain, such as mountains, ravines, jungles, deserts, beaches, snow-covered environment. Steering on ramp is a common working condition for this vehicle. For the restriction of the tracked vehicles size and internal space of chassis, the selected power of engine is always small. Therefore it is necessary to study on the tracked vehicle steering performance on ramp and to calculate traction and braking force of the inner and outer crawler required, which has practical significance for the furt

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23

Beketov, S. A. "The concept of the controlled movement of the tracked vehicle." Izvestiya MGTU MAMI 12, no. 4 (2018): 16–20. http://dx.doi.org/10.17816/2074-0530-66812.

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This article is devoted to solving the actual problem - to define the concept of controlled movement of tracked vehicles. Uncertainty in the concept of controlled movement does not allow to solve practical problems related to the controllability of tracked vehicles. In the publication, controlled motion is considered as a transition from one steady state to another. Just a study of the steady-state motion regime will make it possible to determine the patterns between the force and kinematic parameters of controlled curvilinear motion and controlled parameters of a tracked vehicle. It is determ

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Elsharkawy, Ahmed F., A. M. Salem, Mohamed A. Kamel, and Mohamed H. Abdelshafy. "Optimizing Track Contact Length for Enhanced Dynamics and Performance of Tracked Vehicles: A Particle Swarm Optimization Approach." Journal of Physics: Conference Series 2811, no. 1 (2024): 012024. http://dx.doi.org/10.1088/1742-6596/2811/1/012024.

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Abstract Through an in-depth investigation of tracked vehicle dynamics, this paper explores the crucial role that the track contact length (L) plays in affecting the dynamic performance of tracked vehicles. The study delves into the basic equations that control straight-line motion and turning as functions of track contact length, with an emphasis on these concepts. To improve the tracked vehicle’s overall performance, an optimization procedure is carried out using the Particle Swarm Optimization (PSO) technique that is implemented in MATLAB. The aim of this study is to clarify the complex rel

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Demidov, Nikolay N., Roman Y. Dobretsov, Andrey O. Kaninskiy, and Gennadiy P. Porshnev. "The double-flow electromechanical transmission of tracked vehicle." Tractors and Agricultural Machinery 89, no. 5 (2023): 333–42. http://dx.doi.org/10.17816/0321-4443-109223.

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BACKGROUND: Specific demands to ensure high mobility and low energy consumption while cornering are given in the process of development transport and special tracked vehicles. Therefore, improvement of values of these parameters is a relevant objective. The mentioned parameters are directly dependent on the chosen type of transmission. AIM: Derivation of transmission kinematic schemes that provide the best opportunities to ensure the quality of tracked vehicle cornering control with relative simplicity of design. METHODS: Derivation of transmission kinematic schemes and analytical

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Strawa, Natalia, Dmitry I. Ignatyev, Argyrios C. Zolotas, and Antonios Tsourdos. "On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics." Electronics 10, no. 2 (2021): 187. http://dx.doi.org/10.3390/electronics10020187.

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Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence of model uncertainties significantly reduces a ground vehicle performance when the vehicle is traversing an unknown terrain or the vehicle inertial parameters vary due to a mission schedule or external disturbances. A comprehensive mathematical model of a skid steering tracked vehicle is presented in this paper and used to design a control law. Analysis of the controller under model uncertainties in inertial parameters and in the vehicle-terrain interaction revealed undesi

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SHIMURA, Hiroshi, and Atsuo KAWAGUCHI. "Tracked Vehicle for Rough Terrain." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 1P2—C12. http://dx.doi.org/10.1299/jsmermd.2017.1p2-c12.

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Chen, Ning, Yun Peng Han, Pei Pei Liu, and Shuai Yang. "The Motion Attitude Analysis of High-Speed Tracked Vehicle Climbing over Vertical Wall." Advanced Materials Research 852 (January 2014): 515–19. http://dx.doi.org/10.4028/www.scientific.net/amr.852.515.

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The research object is the motion attitude of the high-speed tracked vehicles climbing over the vertical wall. The new calculation method is used in calculating certain parameters of the equation and establishing the equation of driving characteristics. The changing equations of the pitch angle and roll angle when the high-speed tracked vehicles crossing the obstacles can be obtained. The analysis results show that the motion attitude when the high-speed tracked vehicles crossing the obstacles is related to the terrain parameters, the tracked vehicle parameters, the initial velocity when cross

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Ding, Zhao, Yaoming Li, and Zhong Tang. "Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain." Mathematical Problems in Engineering 2020 (March 20, 2020): 1–9. http://dx.doi.org/10.1155/2020/4247904.

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Skid-steered tracked vehicles are commonly used in soft agricultural terrain due to its low ground pressure between vehicle tracks and the ground. However, the sliding and sinkage of the track during a turning maneuver causes considerable turning resistance, which reduces the vehicle's turning ability. Therefore, we constructed a theoretical model that predicts the turning resistance of tracked vehicles—under steady-state conditions on soft terrain—accounting for track sinkage effects and track slip and skid. The results demonstrate that the moment of turning resistance decreases with increase

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Zhu, Chenhui, Hongmei Zhang, Wanzhang Wang, Kang Li, and Wanru Liu. "Robust control of hydraulic tracked vehicle drive system based on quantitative feedback theory." International Journal of Distributed Sensor Networks 16, no. 2 (2020): 155014772090783. http://dx.doi.org/10.1177/1550147720907832.

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To improve the control precision of the drive system of hydraulic tracked vehicles, we established a mathematical model of the drive system based on the analysis of structural characteristics of the high-clearance hydraulic tracked vehicles and the dual-pump dual-motor drive system and developed a control strategy based on the quantitative feedback theory. First, the mutual independence of the two motor channels was achieved through channel decoupling. Then, the loop-shaping controller and the pre-filter were designed for the two channels. The result of a simulation experiment indicates that t

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Guarnieri, Michele, Paulo Debenest, Takao Inoh, and Shigeo Hirose. "HELIOS VII: a New Tracked Arm-Equipped Vehicle." Journal of Robotics and Mechatronics 15, no. 5 (2003): 508–15. http://dx.doi.org/10.20965/jrm.2003.p0508.

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Crawled vehicles have a considerable importance for rescue operations and tasks performed in damaged areas. On tracked vehicles a great deal of research has been made. However, due to the variety of the sceneries in which robots are required to work, it is important to design vehicles with high terrain adaptability and capable to fulfill different tasks. After an overview of the merits on the state of the art of research on crawled vehicles, the important features of a tracked vehicle are introduced and explained. The new robot Helios VII is presented. The motions that it can realize are verif

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HaoLiang, Guo, Mu XiHui, Yang XiaoYong, and Lv Kai. "Research on the influence of virtual modeling and testing–based rubber track system on vibration performance of engineering vehicles." Engineering review 38, no. 3 (2018): 288–95. http://dx.doi.org/10.30765/er.38.3.5.

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The rubber track system can be quickly swapped on the tyres, exerting a smaller ground pressure while generating a greater adhesion to solve the problem vehicles faced in traversing rough and difficult terrain. This paper will discuss the influence of rubber track system on the ride comfort of engineering vehicles with rigid suspension. First, a multi-body dynamic model of the rubber track system and a mathematical model of contact between the ground and the track are established, and then the macro commands are programmed to add many complex contact forces. Moreover, by using the method of ph

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Tarulescu, Radu, Ciprian Olteanu, and Sorin Zamfira. "Variation of Start Acceleration for Wheeled and Tracked Autonomous Mini-Vehicles." Applied Mechanics and Materials 822 (January 2016): 299–304. http://dx.doi.org/10.4028/www.scientific.net/amm.822.299.

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In this paper is presented a comparison between the obtained start-acceleration of a vehicle with wheels and one tracked. Experiments performed in this regard were conducted on three types of surfaces like parquet, carpet and sand. The vehicles chosen for testing were a remote-controlled mini-vehicle (wheeled locomotion system) and Spy Video TRAKR (locomotion system tracked). In order to determine the acceleration, the vehicles were equipped with ultrasonic sensor DT020-1 and data acquisition system MultiLogPRO, running connected to a PC or as a standalone device.

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Chakravarthy, Pogula Nikhil, and Pankaj Kumar Sharma. "Terramechanics Models for Tracked Vehicle Terrain Interaction Analysis A Review." Defence Science Journal 74, no. 4 (2024): 469–81. http://dx.doi.org/10.14429/dsj.74.19029.

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Efficient manoeuvrability of off-road tracked vehicles such as military tanks and rovers is essential in ensuring the success of military/extra-terrestrial operations. To achieve this, in-depth research on vehicle-terrain interaction is crucial. This manuscript deals with reviewing the ways to study terramechanics viz. theoretical, empirical, and field tests, and proposing the merits and demerits of each method. Under the theoretical approach, empirical, numerical, and semi-empirical methods are discussed. Under the empirical approach, the method based onthe vehicle cone index for tracked and

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Zhou, Fa Liang, Xiao Jun Xu, and Hao Yue Zhang. "Design and Analysis of Steering Mechanism for Small Tracked Vehicle." Applied Mechanics and Materials 701-702 (December 2014): 659–65. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.659.

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The steering mechanism of tracked vehicles is complicated and large, which is an obstacle for its miniaturization. According to the theory of rubber-belt CVTs, a new kind of steering mechanism for small Tracked vehicle is designed. The mechanism consists of two symmetrical-layout rubber-belt CVTs. A sliding part for steering is designed, which can slide axially to make the transmission ratio of one transmission increase while the other reduces, so that the tracked vehicle turns. The steering motion is calculated and its motion discipline is founded. The steering sensitivity and steering smooth

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Lyashenko, M. V., V. V. Shekhovtsov, V. V. Kosenko, P. V. Potapov, and A. I. Iskaliev. "AUTOMATED LOADING OF TRACKED VEHICLES ON RAIL FLATCAR." Spravochnik. Inzhenernyi zhurnal, no. 291 (June 2021): 45–51. http://dx.doi.org/10.14489/hb.2021.06.pp.045-051.

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Problem of loading and unloading of tracked vehicles on a rail flatcar can origin during the transportation of construction machinery, for example in case of reconstruction works near railways when using of cranes is impossible. Current solutions are based on use of ramps connected to a rail flatcar. These ramps are lowered on rails for moving out of a vehicle. At this protection of rails and railway elements during vehicle turning is provided by preliminary stacking of sleepers and automotive rubber tires on place for vehicle movement. This article describes automated method and appropriate m

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Nicolini, Andrea, Francesco Mocera, and Aurelio Somà. "Multibody simulation of a tracked vehicle with deformable ground contact model." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 233, no. 1 (2018): 152–62. http://dx.doi.org/10.1177/1464419318784293.

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In this paper, the realisation of a multibody model of a tracked machine is described. A new compact modelling of the tracks–soil interaction is presented and soil mechanics laws for terrain response are implemented. Tracked vehicles can be used in different fields such as agriculture, military and construction. The conditions of the terrain on which they operate may vary a lot, in terms of soil composition, slope and roughness. For this reason, performance of tracked vehicles is difficult to predict without a great number of field tests. The model is developed in a multibody code that makes i

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Reitbauer, Eva, and Christoph Schmied. "Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles." Sensors 21, no. 13 (2021): 4467. http://dx.doi.org/10.3390/s21134467.

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Nowadays, many precision farming applications rely on the use of GNSS-RTK. However, when it comes to autonomous agricultural vehicles, GNSS cannot be used as a stand-alone system for positioning. To ensure high availability and robustness of the positioning solution, GNSS-RTK must be fused with additional sensors. This paper presents a novel sensor fusion algorithm tailored to tracked agricultural vehicles. GNSS-RTK, an IMU and wheel speed sensors are fused in an error-state Kalman filter to estimate position and attitude of the vehicle. An odometry model for tracked vehicles is introduced whi

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Poddubnyy, Vladimir I. "Mathematical modeling of the movement of a tracked vehicle using the RecurDyn application package." Traktory i sel hozmashiny 88, no. 6 (2021): 68–75. http://dx.doi.org/10.17816/0321-4443-2021-6-68-75.

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Mathematical modeling of motion allows at the design stage to assess the impact of the design and operational parameters of tracked vehicles on their performance, determine the qualitative and quantitative performance indicators, and consider controllability issues. The use of the RecurDyn application with a library of specialized extension packages allows to obtain a mathematical model of the vehicle, taking into account its design with a specified degree of detail. A model of a tracked vehicle with a torsion bar suspension was developed using the Professional extension packs and the Track (H

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Chen, Yuxuan, Yaoheng Li, Shuai He, and Xuzhao Hou. "Cascaded MPC-ADRC trajectory tracking control for electric-drive unmanned tracked vehicles." Journal of Physics: Conference Series 3019, no. 1 (2025): 012065. https://doi.org/10.1088/1742-6596/3019/1/012065.

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Abstract Heavy-duty unmanned tracked vehicles are characterized by large inertia and complex operating conditions, which may lead to vehicle instability and trajectory divergence during trajectory tracking control. To address the trajectory tracking problem of heavy-duty unmanned vehicles, a series control method combining Model Predictive Control (MPC) and Active Disturbance Rejection Control (ADRC) is proposed. In this framework, the MPC algorithm based on a small-angle assumption calculates the desired yaw rate by solving local path points. The first-order linear ADRC controller then drives

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Ponorac, Luka, and Ivan Blagojević. "Experimental Validation of a High-Speed Tracked Vehicle Powertrain Simulation Model." Measurement Science Review 23, no. 5 (2023): 192–201. http://dx.doi.org/10.2478/msr-2023-0025.

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Abstract High-speed tracked vehicles have complex powertrains that, in addition to power transfer and transformation, also perform the functions of vehicle steering and braking systems, as well as power supply system for various subsystems on the vehicle. Analyzing the power balance of a tracked vehicle, especially in specific moving scenarios such as the turning process, is of great importance for understanding the power requirements and workload of the powertrain components and their optimization. A simulation model was developed, based on the construction parameters of an experimentally tes

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Li, Guo Qiang, and Xing Ye Wang. "Research on Electronic Pneumatic Steering and Braking Control Technology for Autonomous Tracked Vehicles." Applied Mechanics and Materials 577 (July 2014): 359–63. http://dx.doi.org/10.4028/www.scientific.net/amm.577.359.

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To realize the autonomous driving of a certain tracked vehicle, the paper has a research on its steering and braking control technology. According to the steering and braking device’s structure and work principle on the original vehicle, the paper design an electronic pneumatic steering and braking control system before analyzing the design request of the system and introduce the system’s work principle. Applying this system to the original vehicle’s autonomous transformation, a test was conducted on the vehicle, the test prove that the electronic pneumatic steering and braking control system

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Xu, Rui Liang, and Tao Yang. "Vehicle Traction Performance in Research of Soft Road." Applied Mechanics and Materials 644-650 (September 2014): 11–15. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.11.

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This paper describes the main properties of the soil, in the analysis of the soil under the horizontal load stress distribution and stress - deformation relationship on the basis of research issues related to wheeled vehicles and tracked vehicles traction. The formula gives the vehicle traction, analyzes the factors that affect vehicle traction and proposes an effective method to improve vehicle traction.

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Qiao, Xin-yong, Ying Jin, and Cheng Gu. "Vibration Response and Evaluation Method of High-Speed Tracked Vehicles Driving Off-Road." Shock and Vibration 2022 (February 3, 2022): 1–18. http://dx.doi.org/10.1155/2022/2866236.

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In the stage of vehicle demonstration and development, equipment finalization test, and equipment service, an important role is played by the mobility prediction and evaluation method of tracked vehicles under complex road conditions, in which vehicle vibration response evaluation is the main content of off-road mobility prediction and evaluation. In this paper, based on the principle of multibody dynamics, a high-speed tracked vehicle action system model was established by using the simulation analysis method. The vibration response of the vehicle on uneven pavement was evaluated from four as

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Li, Pei Xin, Xiao Jun Zhou, Yan Ding Wei, and Fang Tang. "Research on Steering Dynamic Characteristics of Tracked Vehicle Transmission System." Applied Mechanics and Materials 105-107 (September 2011): 532–35. http://dx.doi.org/10.4028/www.scientific.net/amm.105-107.532.

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Based on the operating characteristics of tracked vehicle transmission system, the dynamic characteristics and research methods for transmission system were summarized. According to the analysis of above, a new test rig which can simulate the steering process of tracked vehicle was proposed, and the methods for driving and loading system were determined, the test procedures and evaluation system for the tracked vehicle transmission system were summed up. It provides a practical test method for the design and development of tracked vehicle transmission system.

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Yang, Cong Bin, Liang Gu, and Wei Wei Lv. "Study of Factors with Effects on Tracked Vehicle Driving Resistance Basis of Bekker Theory." Applied Mechanics and Materials 288 (February 2013): 80–83. http://dx.doi.org/10.4028/www.scientific.net/amm.288.80.

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Tracked vehicle usually travels in soft ground, so the driving resistance is more complicated. In this paper, Terzaghi ground bearing capacity theory was analyzed. According to Baker pressure - settlement formula and retaining wall theory, compaction resistance and bulldozing resistance of the tracked vehicle were deduced basis of conservation of energy. Factors with effects on tracked vehicle driving resistance were analyzed by matlab simulation. The driving resistance variation was obtained. Theoretical support for tracked vehicle in soft ground running was provided.

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Das, R. K., A. Upadhyay, and R. K. Garg. "An Unmanned Tracked Vehicle for Snow Research Applications." Defence Science Journal 67, no. 1 (2016): 74. http://dx.doi.org/10.14429/dsj.1.8952.

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<p>Lightweight robotic vehicles can be designed for over-snow mobility to carry out a variety of snow and glacier related studies like carrying out GPR survey of cracks &amp; crevasses over ice crusts that cannot support foot travel, for collecting snow samples and carrying out sub-surface experiments with penetrometers on terrain that are dangerous for human, GPS mapping of avalanche debris etc. Sinkage, resistance to snow compaction, loss of traction and ingestion of snow into the driving system are some of the challenges that an unmanned lightweight tracked vehicle faces in snowbo

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Ji, Zhanhao, Guojiang Shen, Juntao Wang, Mario Collotta, Zhi Liu, and Xiangjie Kong. "Multi-Vehicle Trajectory Tracking towards Digital Twin Intersections for Internet of Vehicles." Electronics 12, no. 2 (2023): 275. http://dx.doi.org/10.3390/electronics12020275.

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Digital Twin (DT) provides a novel idea for Intelligent Transportation Systems (ITS), while Internet of Vehicles (IoV) provides numerous positioning data of vehicles. However, complex interactions between vehicles as well as offset and loss of measurements can lead to tracking errors of DT trajectories. In this paper, we propose a multi-vehicle trajectory tracking framework towards DT intersections (MVT2DTI). Firstly, the positioning data is unified to the same coordinate system and associated with the tracked trajectories via matching. Secondly, a spatial–temporal tracker (STT) utilizes long

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Vu, Mai The, Hyeung-Sik Choi, Dae Hyeong Ji, Sang-Ki Jeong, and Joon-Young Kim. "A study on an up-milling rock crushing tool operation of an underwater tracked vehicle." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 233, no. 1 (2017): 283–300. http://dx.doi.org/10.1177/1475090217735934.

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In this article, we develop the analysis of a new underwater tracked vehicle with rock crushing tool, working under the water. To design the capacity of the underwater tracked vehicle actuator and the rock crushing tool actuator, we analyze the interaction forces and torque between the rock and the rock crushing tool. Since experiments on the underwater tracked vehicle with a rock crushing tool are very difficult, costly, time-consuming, we first perform a mathematical modeling of the underwater tracked vehicle with the rock crushing tool. We analyze the mechanics of the underwater tracked veh

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Liu, Pi Jing, Liang Hou, Wen Guang Lin, Xiu Yi Yu, and Wei Huang. "Simulation of Ride Comfort of Tracked Vehicle Based on Road Random Excitation." Advanced Materials Research 479-481 (February 2012): 93–97. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.93.

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By simplifying the triangular tracked engineer vehicle into dynamic model of half-tracked vehicle with five freedom degrees which includes four vertical jumps and one rotation, a corresponding dynamic differential equation is set up to each degree of freedom. A method of road roughness simulation, based on the time series of White Noise, is also represented and then verified. The simulation analysis of the tracked vehicle ride comfort is built on MATLAB/SIMULINK, based on the incentive signal of an imitated road. The simulation results show that the method that White Noise generated road rough

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