Abstract
The design and development of unmanned tracked vehicles have received a lot of attention in the recent past, considering their wide application in many scenarios. In this paper, the development of a generic mathematical model for an unmanned, off-road tracked vehicle in tele-operation and its simulation are presented. The tele-operation system model is presented along with the planar motion dynamics of the tracked vehicle. Vehicle motion dynamics is subdivided into longitudinal motion and angular motion dynamics, which are again subdivided into acceleration, braking, and yaw motion dynamics. The prime mover was modeled using an engine-map, which was generated using real-time data from an experimental vehicle. Simulation studies have shown that the model can be effectively used for designing better tele-operation strategies for off-road tracked vehicles.
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