Steering Behavior of a Track-Driven Paintball Robot

Abstract

Studies on the steering characteristics of track-driven mobile robot have been previously performed in terms of stationary motions at a constant speed. Nevertheless, stationary motions are rather rare and almost all motions of track-driven mobile robot are non-stationary. This work presents an analysis on the steering behaviour of a track-driven paintball robot. A mathematical model of a track-driven platform that allows the study of its curvilinear motion on firm level ground has been developed. The non-linear kinematics model was simulated to predict the steerability of track-driven paintball robot under curvilinear maneuvers at varying initial velocities. The purpose of the modelling is to understand the locomotion and the behavior of the track-driven platform towards the development of an autonomous paintball robot named as the iBOT.