Kinematic Analysis of an Omnidirectional Tracked Vehicle

This article addresses the problem of controlling an omni-tracked vehicle equipped with parallel, fully overlapping omnidirectional tracks. A kinematic model is presented that enables the determination of the vehicle body’s displacement relative to the ground, regardless of the orientation of the free rollers. The objective of this study is to demonstrate the potential of using the proposed model for controlling an omni-tracked vehicle. The novelty of this work lies in the modular approach—isolating a unit composed of two omni-tracks from the overall vehicle structure. A numerical model of the omni-tracked vehicle is also developed, allowing for the dynamic simulation of its motion. The results of the simulation are compared with those obtained from the kinematic model to assess their consistency. In the final part of this article, the results are reanalyzed, and conclusions are drawn regarding the applicability of the kinematic model in the control of omni-tracked vehicles.