{"id":"https://openalex.org/W2040606198","doi":"https://doi.org/10.1109/acc.2013.6579984","title":"A simplified skid-steering model for torque and power analysis of tracked small unmanned ground vehicles","display_name":"A simplified skid-steering model for torque and power analysis of tracked small unmanned ground vehicles","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2040606198","doi":"https://doi.org/10.1109/acc.2013.6579984","mag":"2040606198"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6579984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052236642","display_name":"Tianyou Guo","orcid":"https://orcid.org/0000-0002-9537-9767"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tianyou Guo","raw_affiliation_strings":["Department of the Mechanical Engineering, G041 Lay Automotive Laboratory, University of Michigan, Ann Arbor, MI, USA","Dept. of the Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of the Mechanical Engineering, G041 Lay Automotive Laboratory, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept. of the Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019025642","display_name":"Huei Peng","orcid":"https://orcid.org/0000-0002-1844-3163"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huei Peng","raw_affiliation_strings":["Department of the Mechanical Engineering, G041 Lay Automotive Laboratory, University of Michigan, Ann Arbor, MI, USA","Dept. of the Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of the Mechanical Engineering, G041 Lay Automotive Laboratory, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept. of the Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5052236642"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":4.4102,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.93268033,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1106","last_page":"1111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10615","display_name":"Granular flow and fluidized beds","score":0.9509000182151794,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9210000038146973,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.873346745967865},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7652866840362549},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5525125861167908},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5135529041290283},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5043727159500122},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4698216915130615},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4265798330307007},{"id":"https://openalex.org/keywords/power-steering","display_name":"Power steering","score":0.4205038547515869},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4138391613960266},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.4134410619735718},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40570855140686035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37570422887802124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3578098714351654},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20287513732910156},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14005526900291443}],"concepts":[{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.873346745967865},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7652866840362549},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5525125861167908},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5135529041290283},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5043727159500122},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4698216915130615},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4265798330307007},{"id":"https://openalex.org/C2778679013","wikidata":"https://www.wikidata.org/wiki/Q1054734","display_name":"Power steering","level":2,"score":0.4205038547515869},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4138391613960266},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.4134410619735718},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40570855140686035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37570422887802124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3578098714351654},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20287513732910156},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14005526900291443},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2013.6579984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1970744413","https://openalex.org/W2005122154","https://openalex.org/W2028375739","https://openalex.org/W2032335793","https://openalex.org/W2045298475","https://openalex.org/W2059750403","https://openalex.org/W4210274491"],"related_works":["https://openalex.org/W833875619","https://openalex.org/W4237861684","https://openalex.org/W613759904","https://openalex.org/W3185260728","https://openalex.org/W2516263124","https://openalex.org/W2946779414","https://openalex.org/W2240558386","https://openalex.org/W285995450","https://openalex.org/W586756255","https://openalex.org/W589991510"],"abstract_inverted_index":{"The":[0,150],"ability":[1],"to":[2,50],"predict":[3],"the":[4,37,43,47,51,62,90,94,101,156],"torque":[5,25,38],"and":[6,26,39,93],"power":[7,27,40,64,75,145],"consumption":[8,28,146],"of":[9,42,61,65,78,81,89,97,111],"a":[10,58,108,140],"tracked":[11,66],"robot,":[12],"a.k.a.,":[13],"small":[14],"unmanned":[15],"ground":[16],"vehicle":[17],"(SUGV)":[18],"is":[19,83,126,130,147,153],"important":[20],"for":[21,143],"its":[22],"design.":[23],"Accurate":[24],"prediction":[29],"enables":[30],"motion":[31],"planning":[32],"that":[33,53],"does":[34],"not":[35],"exceed":[36],"limitations":[41],"propulsion":[44,63],"system":[45],"or":[46],"terrain.":[48],"Due":[49],"fact":[52],"skid":[54,79,112,134],"steering":[55,80,113,135],"may":[56],"consume":[57],"large":[59],"percentage":[60],"SUGVs,":[67],"it":[68],"must":[69],"be":[70],"included":[71],"in":[72],"any":[73],"accurate":[74,122],"analysis.":[76],"Modeling":[77],"tracks":[82],"difficult":[84],"on":[85,165],"soft":[86],"soils":[87],"because":[88],"track-soil":[91,114],"interaction":[92,115],"distributed":[95],"nature":[96],"shear":[98],"stress":[99],"along":[100],"contact":[102],"area.":[103],"This":[104],"study":[105],"begins":[106],"with":[107,132],"general":[109],"theory":[110],"at":[116],"steady":[117],"state.":[118],"A":[119],"fast":[120],"yet":[121],"2-D":[123],"simplified":[124,151],"model":[125,152],"then":[127],"developed,":[128],"which":[129],"solved":[131],"pre-calculated":[133],"resistance":[136],"coefficient":[137],"maps.":[138],"Subsequently":[139],"quadratic":[141],"equation":[142],"internal":[144],"obtained":[148,159],"experimentally.":[149],"verified":[154],"using":[155],"experimental":[157],"data":[158],"from":[160],"an":[161],"iRobot":[162],"Packbot":[163],"driving":[164],"dry":[166],"sand.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}