Manuel Sánchez

ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes*

This paper proposes a new kinematic model for wheeled skid-steer vehicles moving with low inertia on firm slopes that is based on the variation of the Instantaneous Center of Rotation (ICR) of its lateral treads. To this end, the ICR-based model for horizontal surfaces, where constant tread ICRs wer…