Abstract
In this chapter, the special point of tracked unmanned ground vehicle (TUGV), the terramechanics between the tracks of UGV and ground, are thoroughly discussed. The refined fundamentals of soil and terramechanics are introduced, which consist of the classification of soil, the kernel mechanical model of terrain, and the identification of parameters of the ground. Based on a classical model of terrain and experimental data of two kinds of terrains, the key parameters are identified. The essential part of an exponential function with respect to the longitudinal deformation of ground, has perfect differentiability and simplicity, and makes sense to both theoretical analysis and practical usage.
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