Idea
在运动平面上的瞬时旋转中心是相对于robot是dynamics-dependent，but lie within a bounded area. Thus, optimizing constant ICR positions for a particular terrain results in an approximate kinematic model for tracked mobile robots.
Introduction
Tracked Mobile Robot 现在有如下这几种streer的方式：
- articulated steering
- curved track steering
- skid steering
这种是现在最常使用的，因为it is simpler from the mechanical standpoint and it achieves a faster response.
skid steering现在存在的问题：
variation of the relative velocity of the two tracks results in slippage as well as soil shearing and compacting in order to achieve steering. 这导致的最终问题就是：kinematics is not straightforward, since it is not possible to predict the exact motion of the vehicle only from the control inputs.
Approach
这篇文章提出的方法就是model kinematics for tracked vehicles by obtaining a geometric analogy with a wheeled differential drive model. 然后对模型进行参数辨识。
做出的假设：planar uniform hard terrain type and mobile robot operation at moderate speeds
Kinematics for Tracked Vehicles
kinematics:
(
v
x
,
v
y
,
w
z
)
=
f
d
(
V
l
,
V
r
)
(v_{x}, v_{y}, w_{z}) = f_{d}(V_{l}, V_{r})
(vx,vy,wz)=fd(Vl,Vr)
inverse kinematics:
(
V
l
,
V
r
)
=
f
i
(
v
x
,
v
y
,
w
z
)
(V_{l}, V_{r}) = f_{i}(v_{x}, v_{y}, w_{z})
(Vl,Vr)=fi(vx,vy,wz)
接下来就引入这篇文章中最重要的概念：瞬时旋转中心 Instantaneous Center of Rotation (
I
C
R
v
ICR_{v}
ICRv)
ICR is defined as the point in the horizontal plane where the motion of the vehicle can be represented by a rotation and no translation occurs.
不仅要entire body的运动，也要考虑the motion of both its tracks on their contact surface with the ground.
左右两边履带的旋转中心在local frame中的定义为 L C R l = ( x L C R l , y L C R l ) LCR_{l} = (x_{LCRl}, y_{LCRl}) LCRl=(xLCRl,yLCRl) and L C R r = ( x L C R r , y L C R r ) LCR_{r} = (x_{LCRr}, y_{LCRr}) LCRr=(xLCRr,yLCRr)
因为履带相比于body多了一个履带自身旋转的自由度，履带上的点的运动是body运动和履带旋转运动的结合,因此履带的LCR和body的LCR不一样。
Note: This definition refers to the LCR of track treads on the ground plane, not to their roll axis.
根据参考文献：
三个旋转中心都在平行于local X轴的直线。
x
I
C
R
v
=
−
v
y
w
z
x_{ICRv} = \frac{-v_{y}}{w_{z}}
xICRv=wz−vy
x
I
C
R
l
=
V
l
−
v
y
w
z
x_{ICRl} = \frac{V_{l} - v_{y}}{w_{z}}
xICRl=wzVl−vy
x
I
C
R
r
=
V
r
−
v
y
w
z
x_{ICRr} = \frac{V_{r} - v_{y}}{w_{z}}
xICRr=wzVr−vy
y
I
C
R
v
=
y
I
C
R
l
=
y
I
C
R
r
=
v
x
w
z
y_{ICRv} = y_{ICRl} = y_{ICRr} = \frac{v_{x}}{w_{z}}
yICRv=yICRl=yICRr=wzvx
下面分析一个重要性质：
如果robot几乎不旋转的话，
x
I
C
R
v
x_{ICRv}
xICRv就会无限大。但是
x
I
C
R
l
，
x
I
C
R
r
,
y
I
C
R
v
x_{ICRl}，x_{ICRr}, y_{ICRv}
xICRl，xICRr,yICRv are bounded, 因为即使在近似直线运动时，分子和分母都是同阶的无穷小。
由上面几个公式，我们可以推导出forward kinematics和backward kinematics:
- forward kinematics
v x = V r − V l x I C R r − x I C R l y I C R v v_{x} = \frac{V_{r} - V_{l}}{x_{ICRr} - x_{ICRl}} y_{ICRv} vx=xICRr−xICRlVr−VlyICRv - inverse kinematics
V l = v y + x I C R l w z V_{l} = v_{y} + x_{ICRl}w_{z} Vl=vy+xICRlwz
下面我们要分析一下tracked vehicles和wheeled differential drive vehicles的异同
- 相同
对于上图中的那种情况（目前理解是wheeled vehicles没有轮子打滑的情况下），forward和inverse kinematics是相同的 - 不同
在没有侧向滑动的情况下，ideal wheels的ICRs are constant and coincident with the ground contact points.
Track ICRs are dynamics-dependent and always lie outside the track centerlines because of slippage.
Thus, less track slippage results in track ICRs that are closer to the vehicle.
此外，履带ICRs也会受到robot重心的影响。
下面，我们需要定义一些指标来定量描述一下LCRs对robot控制性能的影响。
- steering efficiency index
- normalized eccentricity index
以上讨论的目的是通过
I
C
R
l
ICR_{l}
ICRl和
I
C
R
r
ICR_{r}
ICRr将vehicle外部和内部的动力学影响引入到简单的运动学模型中。
I
C
R
l
ICR_{l}
ICRl和
I
C
R
r
ICR_{r}
ICRr are bounded variables for tracked vehicles and coincide with wheel contact points for ideal differential drive.
Identification of Tracked Kinematic Parameters
The identification process consists on finding three parameters：
- the local Y coordinate of track ICRs ( y I C R v = y I C R l = y I C R r y_{ICRv} = y_{ICRl}= y_{ICRr} yICRv=yICRl=yICRr)
- the local X coordinates of both track ICRs ( x I C R r x_{ICRr} xICRr and x I C R l x_{ICRl} xICRl)
以下介绍两种方法：
- Derivation of Track ICRs from the Simulation of the Dynamic Model
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