@inproceedings{4c673d6f1d514e858e49adc386fdb707,
title = "Experimental study on track-terrain interaction dynamics in an integrated environment: Test RIG",
abstract = "An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles on soft terrains. The objective of this paper is to develop a test rig that will generate experimental data for autonomous tracked vehicles following a steady state circular trajectory on soft terrains. The data will be used in the future to validate a travers ability model for predicting track thrusts, a visual odometry technique for predicting vehicle slip and in controlling autonomous tracked vehicle following a steady state circular trajectory on soft terrains that were developed at King's College London.",
keywords = "Autonomous tracked vehicle, Non-holonomic vehicle model, Slip, Traversability prediction model, Visual odometry",
author = "S. Al-Milli and S. Chhaniyara and E. Georgiou and K. Althoefer and Dai, {J. S.} and L. Seneviratne",
year = "2008",
doi = "10.1142/9789812835772_0132",
language = "British English",
isbn = "9812835768",
series = "Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008",
publisher = "World Scientific Publishing Co. Pte Ltd",
pages = "1106--1113",
booktitle = "Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008",
address = "Singapore",
note = "11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008 ; Conference date: 08-09-2008 Through 10-09-2008",
}