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In order to improve the accuracy of motion control, a turning model under steady state conditions of Tracked Mobile Robots (TMRs) is provided, based on considering tracks slipping. With making the sprocket rotating speed ratio of inner track to outer track independent variable, the turning of TMRs under steady state is analyzed and modeled, which is of enormous significance to the motion control of TMRs. And the comparison of numerical analysis results and experimental data shows reliable precision of the model.

Turning Model of Tracked Mobile Robots under Steady State Conditions