A smart calibration model on track’s pressure-sinkage characteristic of a tracked vehicle moving on soft seabed sediments

Dynamic modelling of the steering performance of an articulated tracked vehicle using shear stress analysis of the soil

“…The steering behaviours of articulated tracked vehicles are different from those of traditional single-tracked vehicles. Therefore, these models 1–17 cannot be directly used for analysing the steerabilities of articulated tracked vehicles.…”

“…As discussed previously, these models were designed to focus on analysing single-tracked vehicles 3–17 or empirical equations; therefore, some of their key parameters were difficult to obtain, 12–15,18 or only the control strategy of the motion trajectory can be studied, as either the mechanical characteristics of tracks are not involved 16,17,23,24 or the shearing action between the soil and the track is neglected. 8–11,19,20,22 Moreover, only limited experimental data are available for validating the effectiveness of these models.…”

“…1,2 The Bekker [3][4][5][6] theory mainly focuses on studying the interaction between the soil and the track and proposes an empirical equation for the pressure-sinkage relation between them. Zeng et al 7 further proposed a smart calibration model on the pressure-sinkage characteristics for a tracked vehicle on the basis of the Bekker theory. However, these methods [3][4][5][6][7] were mainly created for studying the relation between the soil deformation and the vertical load.…”

“…Zeng et al 7 further proposed a smart calibration model on the pressure-sinkage characteristics for a tracked vehicle on the basis of the Bekker theory. However, these methods [3][4][5][6][7] were mainly created for studying the relation between the soil deformation and the vertical load. Therefore, these methods were not suggested for specifically examining the steering performance of a tracked vehicle.…”

“…However, the study involved only the kinematic model of a vehicle. Furthermore, the above-mentioned research studies [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17] mainly modelled the steering performance of a singletracked vehicle and have common limitations for examining the steering performances of articulated tracked vehicles. The steering behaviours of articulated tracked vehicles are different from those of traditional singletracked vehicles.…”