Adaptability is a fundamental yet challenging requirement for mobile robot locomotion. This
article presents-WaLTR, a new adaptive wheel-and-leg transformable robot for versatile …

This paper presents mathematical models to estimate the kinematics and dynamics of
wheeled and tracked robots. The models account for the physical–mechanical …

This article presents a combined route and path planning strategy to guide Skid–Steer
Mobile Robots (SSMRs) in scheduled harvest tasks within expansive crop rows with …

The complex slip characteristics between the tracks and the terrain make it difficult to build
an accurate model for intelligent tracked vehicles. Both the path planning and lateral control …

The ability to predict the power consumption of a small mobile robot with either tracked or
wheeled configuration is important to its design and control. Accurate and fast prediction of …

The dynamics of a skid-steering robot present intrinsic non-linearities that make the design
and implementation of a controller a very complex task, time-consuming, and difficult to …

Highlights Laying the groundwork for AGV mobility models for high slope terrain operations.
AGV drawbar pull performance was evaluated on a level terrain, uphill, and downhill slopes …

Single rigid body models are often used for fast simulation of tracked vehicle dynamics on
soft soils. Modeling of soil-track interaction forces is the key modeling aspect here. Accuracy …

The high‐speed steering control of tracked vehicles has been studied thoroughly, but the
high‐speed steering stability boundary of tracked vehicles has rarely been investigated. The …

High-efficiency, real-time and precise formation trajectory tracking control (FTTC) is a
fundamental and difficult task for unmanned tracked vehicles (UTVs) in unstructured variable …