Center-point steering analysis of tracked omni-vehicles based on skid conditions

Abstract

Abstract. Existing center-point steering models of a tracked\nomni-vehicle seldom consider the skid of the track (roller) grounding\nsection, which is inconsistent with the actual steering process. In this\nstudy, for the three typical layout types, rectangular, hybrid, and\ncentripetal, the steady center-point steering motion of a tracked\nomni-vehicle under skid conditions is analyzed and a correction model is\ninvestigated. The numerical solution of the absolute lateral offset of the\nsteering pole is obtained, and the influences of various structural\nparameters on the numerical solution are discussed. The steering angular\nvelocity reduction coefficient is calculated, and the angular velocity of\nvehicles is corrected. The simulation of center-point steering motion is\ncarried out on eight virtual prototypes, and the center-point steering\nmotion experiment is carried out on three physical prototypes. The results\nshow that the established correction model is more in line with the steering\nreality of the tracked omni-vehicle, and it can play a role in correcting the\ncenter-point steering angular velocity.