{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:00:53Z","timestamp":1777716053609,"version":"3.51.4"},"reference-count":18,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2005,10,1]],"date-time":"2005-10-01T00:00:00Z","timestamp":1128124800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,10]]},"abstract":"<jats:p>In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation. Complex dynamics due to slippage and track\u2013soil interactions make it difficult to predict the exact motion of the vehicle on the basis of track velocities. Nevertheless, real-time computations for autonomous navigation require an effective kinematics approximation without introducing dynamics in the loop. The proposed solution is based on the fact that the instantaneous centers of rotation (ICRs) of treads on the motion plane with respect to the vehicle are dynamics-dependent, but they lie within a bounded area. Thus, optimizing constant ICR positions for a particular terrain results in an approximate kinematic model for tracked mobile robots. Two different approaches are presented for off-line estimation of kinematic parameters: (i) simulation of the stationary response of the dynamic model for the whole velocity range of the vehicle; (ii) introduction of an experimental setup so that a genetic algorithm can produce the model from actual sensor readings. These methods have been evaluated for on-line odometric computations and low-level motion control with the Auriga-\u03b1 mobile robot on a hard-surface flat soil at moderate speeds.<\/jats:p>","DOI":"10.1177\/0278364905058239","type":"journal-article","created":{"date-parts":[[2005,9,23]],"date-time":"2005-09-23T05:43:04Z","timestamp":1127454184000},"page":"867-878","source":"Crossref","is-referenced-by-count":202,"title":["Approximating Kinematics for Tracked Mobile Robots"],"prefix":"10.1177","volume":"24","author":[{"given":"J. L.","family":"Mart\u00ednez","sequence":"first","affiliation":[{"name":"Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica,                         Universidad de M\u00e1laga, Plaza El Ejido s\/n,                         29013-M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Mandow","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.","family":"Morales","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Pedraza","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Garc\u00eda-Cerezo","sequence":"additional","affiliation":[{"name":"Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica,                         Universidad de M\u00e1laga, Plaza El Ejido s\/n,                         29013-M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Ahmadi, M., Polotski, V., and Hurteau, R. 2000. Path tracking control of tracked vehicles . Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 2938\u20132943 .","DOI":"10.1109\/ROBOT.2000.846474"},{"key":"atypb2","unstructured":"Bekker, M. G. 1956. Theory of Land Locomotion, University of Michigan Press, Ann Arbor, MI ."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/70.544770"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1016\/0967-0661(95)00004-E"},{"key":"atypb5","unstructured":"Fan, Z., Borenstein, J., Wehe, D., and Koren, Y. 1995. 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Proceedings of the 5th IFAC International Symposium on Intelligent Components and Instruments for Control Applications, Aveiro, Portugal.","DOI":"10.1016\/S1474-6670(17)32516-8"},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"Mart\u00ednez, J. L., Mandow, A., Morales, J., Garc\u00eda-Cerezo, A., and Pedraza, S. 2004. Kinematic modeling of tracked vehicles by experimental identification . Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 1487\u20131492 .","DOI":"10.1109\/IROS.2004.1389606"},{"key":"atypb12","unstructured":"Ollero, A., Garc\u00eda-Cerezo, A., Mart\u00ednez, J. L., and Mandow, A. 1997. Fuzzy tracking methods for mobile robots. Applications of Fuzzy Logic: Towards High Machine Intelligence Quotient Systems, Series on Environmental and Intelligent Manufacturing Systems, Prentice-Hall, Englewood Cliffs, NJ , Vol. 9, Chap. 17, pp. 347\u2013364."},{"key":"atypb13","unstructured":"Pedraza, S. 2000. 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