Abstract
In this chapter, a set of novel dynamical models of tracked unmanned ground vehicles (UGVs) have been established in three-dimensional space, rather than the simplified two-dimensional projection on a single plane in traditional vehicle theory. Based on discussions on the Euler angle, a predefined body-fixed coordinates frame was established in a dynamic model of the main body. Subsequently, a model combining straight motion and steering modes was derived with spatial forces and moments applied, which are realized in the Newton–Euler method and Lagrangian method individually. With the developed models, further research, such as real-time vehicle load distribution rules in three-dimensional space and motion stability, could be logically expanded and the relevant control algorithms can be implemented.
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