A low-order dynamic model of a tracked robot inclusive of non-linear slip

This work presents results of low-order modelling of the planar dynamics of a tracked robot focusing on the coupled lateral, rotational, and longitudinal dynamics. This model is validated experimentally using a novel rolling roadway simulator that allows for uniform surface interaction as well as accurate sensing of vehicle position and orientation at high bandwidth. Comparing simulations to experimental tests using aggressive planar manoeuvres, the model was found to capture major components of chassis behaviour even for combined manoeuvres, for example lane changes while accelerating or decelerating, or lane changes during a steady turn.