Comparison of Multi-Tracked Running Gears in Terms of Obstacle Negotiation Capabilities

This paper concerns lightweight—up to 800 kg—UGVs (unmanned ground vehicles), where multi-tracked running gears are used to improve the obstacle negotiation performance. A comparison of four different multi-tracked systems and, for reference, classic tracked running gear is presented. Simulations in a multi-body dynamics program were performed, where running gear solutions overcame three typical obstacles and were assessed using a total of five effectiveness and functionality criteria. The simulation models took into account the variable track–ground contact surface. The ground parameters were validated by means of experimental tests for grassy terrain. In the results, the most advantageous solutions in each category are indicated, and design guidelines for increasing the obstacle-overcoming capabilities of multi-tracked UGVs are presented.