Kinematics modeling and analysis of a military exploration vehicle with wheel-tracks

In order to make the locomotion of the exploration vehicle more controllable,a new method was presented to establish the kinematics model of the wheel-tracked exploration vehicle.By analyzing the structure of the moving system,the kinematics model of exploration vehicle was set up and kinematics equations were deduced.Then the velocity Jacobian matrix between the bodywork and the wheels was established,and least squares method was used to compute the bodywork's velocity to estimate the position and orientation of the exploration vehicle.At last,numerical simulation was made to prove the kinematics characteristics of the exploration vehicle,whilst the adaptability and capability of obstacle surmounting was validated.