Skid Steering Tracked Vehicle Simulink Model

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dc.contributor.authorIgnatev, Dmitrii
dc.contributor.authorStrawa, Natalia
dc.date.accessioned2024-06-12T12:55:46Z
dc.date.available2024-06-12T12:55:46Z
dc.date.issued2021-08-12 16:27
dc.description.abstractA comprehensive mathematical model of a skid steering tracked vehicle, including track-terrain interaction, motion kinematics and dynamics, is provided. The model is also equipped with the control system for accurate following the desired trajectory. A compound identification scheme utilizing an exponential forgetting recursive least square, generalized Newton–Raphson (NR), and Unscented Kalman Filter methods is also added to estimate the model parameters, such as the vehicle mass and inertia, as well as parameters of the vehicle-terrain interaction, such as slip, resistance coefficients, cohesion, and shear deformation modulus on-line.
dc.identifier.citationIgnatev, Dmitrii; Strawa, Natalia (2021). Skid Steering Tracked Vehicle Simulink Model. Cranfield Online Research Data (CORD). Dataset. https://doi.org/10.17862/cranfield.rd.15156810
dc.identifier.doi10.17862/cranfield.rd.15156810
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/22463
dc.publisherCranfield University
dc.relation.supplementshttps://doi.org/10.3390/electronics10020187'
dc.rightsCC BY 4.0
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectunmanned tracked vehicle'
dc.subject'inertial parameters'
dc.subject'vehicle-terrain interaction'
dc.subject'identification'
dc.subject'recursive least square with exponential forgetting'
dc.subject'generalized Newton–Raphson'
dc.subject'Unscented Kalman Filter'
dc.subject'Automation and Control Engineering'
dc.subject'Autonomous Vehicles'
dc.subject'Control Systems
dc.subjectRobotics and Automation'
dc.subject'Mechanical Engineering'
dc.subject'Process Control and Simulation'
dc.subject'Special Vehicles'
dc.subject'Transport Engineering'
dc.titleSkid Steering Tracked Vehicle Simulink Model
dc.typeDataset

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