Simulation studies and experimental research of omnidirectional tracked vehicle
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Wrocław University of Science and Technology, Wrocław, Poland
Submission date: 2023-10-30
Final revision date: 2023-12-11
Acceptance date: 2024-01-08
Online publication date: 2024-04-13
Publication date: 2024-04-30
Corresponding author
Mateusz Fiedeń   

Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Wroclaw, Poland
Journal of Theoretical and Applied Mechanics 2024;62(2):337-349
The article focuses on the control of an omni-tracked vehicle in a symmetrical, fully overlapping track system. The links of each crawler are equipped with a single rolling roller. Authors propose mathematical description to determine the direction and speed of movement of a single pair of omni-tracks with oppositely arranged rolling rollers. Numerical tests were carried out, the results of which were compared with the mathematical model. The numerical studies were then subjected to experimental verification, using a full-scale prototype. A dynamic direction correction algorithm was also proposed with its effectiveness proved experimentally
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