A theoretical analysis of steerability of tracked vehicles

This paper presents a theoretical analysis of steerability of tracked vehicles during uniform turning on level pavement. Considering all possible factors related to steering problems such as track slippage, centrifugal force and vehicle configuration, equations for uniform turning motion have been developed in order to analyze and predict steering dynamics, and steerability in plane motion of vehicles. These equations have been numerically solved by a digital computer in terms of turning radius, side slip angle, shift of instantaneous center of vehicle and track slippage.