Systemic analysis of propulsion solutions for UGVs with wheels and tracks

The work "Systemic analysis of propulsion solutions for wheeled and tracked UGVs" is addressed to specialists in the field of motor vehicle engineering and aims to analyze the kinematics and dynamics of various particular constructive solutions of robots UGV (Unmanned Ground Vehicle) with wheels and tracks.

Starting from the results obtained from the bibliographic research activity, models are proposed for estimating the kinematics and dynamics of wheeled and tracked robots. Within the kinematic models, the hypotheses, calculation schemes and constitutive equations of the model are present, while the dynamic models show how to determine the forces and moments acting on the wheels and on the robot and how to determine the influences that the slips have (longitudinal and transversal) on the travel path.