Table 1 Slip models for each direction and maneuver
From: Slip-compensated odometry for tracked vehicle on loose and weak slope
Slip ratio | Slip angle | |
|---|---|---|
Straight maneuver | \(\alpha = \frac{R_c}{C} + \frac{W}{C} \theta _{pitch}\) | \(\beta = \frac{W}{C'} \theta _{roll}\) |
Turning maneuver | \(\frac{\alpha _l}{\alpha _r} = -sgn\left( v_r \cdot v_l \right) \left( \left| \frac{v_r}{v_l} \right| \right) ^n\) | \(\beta = \sum \nolimits _{i=0}^{7} a_i X_i\) |