CONSIDERATIONS ON THE DYNAMICS OF A TRACKED UGV NEGOTIATING A LONGITUDINAL RAMP

Ștefan-Tigran RADU, Lucian-Ștefăniță GRIGORE, Octavian ALEXA, Daniel CONSTANTIN, Dan POPA, Andrei SMARANDA

Abstract


The interest for studying and developing UGVs has seen a rise in recent years, transitioning from prototypes to being used in many civilian and military applications. Since tracked UGVs display particular advantages in both offroad and urban environments, they present a clear advantage over robots with different type of propulsion systems. For studying the mobility of tracked robots, an analysis of the approachability of a longitudinal ramp is proposed. This paper aims to address this matter by first describing theoretically the mechanics of a tracked platform on this type of obstacle. To continue the analysis, models of a physical UGV and the ramp are created in a multibody simulation software.

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