Stability of a multi tracked robot traveling over steep slopes

摘要: Tracked vehicles can offer the best solution for operation over complex terrains, including difficult surfaces. configuration is often required to guarantee mobility unrestricted, all-weather tactical operations. A safe and reliable motion requires vehicle maintain stable contact with terrain while avoiding slippage. This becomes critical when traveling surfaces, especially steep slippery slopes. paper deals problem of how a multi tracked Changes in vehicle's internal adjust center gravity motion. The analyzes acceptable positions given slope's inclination, friction between surface. Geometric two dimensional model first presented, followed by linear programming 3D model. Experimental results, as well field test conducted on our multi-tracked autonomous verify theoretical analysis provide constraints geometry tracks