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Simple modeling of approximate turning characteristics of tracked mobile vehicles in steady state condition

To investigate the behavior of tracked mobile robots or vehicles, first a mathematical model is developed to describe the physics of tracked vehicles. Then, the equations of motion are solved for radius of rotation in steady state condition using a numerical method. Results are compared with an ideal differentially-driven vehicle and notable similarities are observed. Further, few mathematical functions are developed to approximate turning characteristics of the vehicle in steady state condition on rigid ground. Forms of these functions are simple and can be used in real time control and motion planning of tracked vehicles. Finally, the results are compared with similar works in the area.