Antilock braking systems are one of the most important safety systems for wheeled vehicles. They reduce the braking distance and, most importantly, help the user maintain controllability and steerability of the vehicle. This brief extends and adapts the concept of ABSs to tracked vehicles, in particular to snowmobiles. Snowmobiles are an interesting development platform for two main reasons: 1) track dynamics, despite being analogous to tire dynamics, present important differences that help understanding the features of the control algorithm and 2) snowmobiles are simple and rugged vehicles with a limited set of sensors, making the design of an effective control system challenging. This brief designs a track-deceleration-based ABS algorithm and tests it both in straight riding and cornering. The analysis shows that on snowmobiles, ABSs have negligible advantages in term of stopping distance, but are beneficial in terms of steerability and stability, especially during cornering.

中文翻译：

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考虑侧向稳定性的雪地车防抱死制动系统的实验验证

防抱死制动系统是轮式车辆最重要的安全系统之一。它们减少了制动距离，最重要的是，帮助用户保持车辆的可控制性和可操纵性。本摘要将ABS的概念扩展并适用于履带车辆，尤其是雪地摩托。雪地车是一个有趣的开发平台，其主要原因有两个：1）尽管类似于轮胎动力学，但轨道动力学仍然存在重要差异，有助于理解控制算法的特征； 2）雪地车是简单而坚固的车辆，传感器数量有限，使得有效控制系统的设计具有挑战性。本摘要设计了一种基于轨迹减速的ABS算法，并在直线行驶和转弯中对其进行了测试。分析表明，在雪地车上，