Skid-steer rovers consume a lot more power in point turns compared to straight line motion. As energy is the integral of power over time, the turning radius should be considered explicitly for this type of rover. Lower instantaneous power consumption for wider arcs must be traded off against shorter traversal distance for tighter arcs by evaluating the total energy consumed when following different paths. This research seeks to find the most energy-efficient path from among Circular arc - Line - Circular arc (CLC) paths, a generalization of Point turn - Line - Point turn (PLP) paths which are the simplest path to execute for a skid-steer rover traversing between general start and end poses. The optimally energy-efficient CLC path on hard ground is found to have circular arcs of radius R^′, the turning radius at which a skid-steer rover’s inner wheels are not commanded to turn. The radius corresponds to exactly half the rover’s slip-track. Theoretical, numerical, and experimental evidenceis presented to support this result. Further, important features of the R^′ turning radius are explored.

与直线运动相比，转向滑行车在转弯时消耗更多的动力。由于能量是功率随时间的积分，因此对于此类流动站，应明确考虑转弯半径。对于较宽的电弧，较低的瞬时功耗必须通过评估沿不同路径消耗的总能量来权衡较短的导线距离（对于较紧的电弧）。这项研究旨在从圆弧-线-圆弧（CLC）路径，点转弯-线-点转弯（PLP）路径的概括中找到最节能的路径，这是对滑行执行的最简单路径引导漫游者在一般的起始姿势和结束姿势之间移动。发现在硬质地面上具有最佳能效的CLC路径具有半径为R ^'的圆弧，即不要求打滑的漫游车内轮转弯的转弯半径。半径恰好对应于流动站滑移轨迹的一半。提出了理论，数值和实验证据来支持这一结果。此外，探索了R ^'转弯半径的重要特征。