SIMULATION STUDIES AND EXPERIMENTAL RESEARCH OF OMNIDIRECTIONAL TRACKED VEHICLE

The article focuses on the control of an omni-tracked vehicle in a symmetrical fully overlapping track system. The vehicle in question is equipped with four independently controlled tracks. The links of each crawler are equipped with a single rolling roller, fixed at an angle to the direction of the vehicle main axis. The authors propose mathematical description to determine the direction and speed of movement of a single pair of omni-tracks with oppositely arranged rolling rollers. Numerical tests were carried out, the results of which were compared with the mathematical model. The numerical studies were then subjected to experimental verification, using a full-scale prototype. A dynamic direction correction algorithm was also proposed with its effectiveness proved experimentally.