Thursday 28th of March 2024
 

Path Tracking Control of Tracked Vehicle


Han Qing-Jue and LIU Shao-jun

In this paper, an improved time-optimal control algorithm is formulated to guarantee the tracked vehicle moves along the desired path. For tracked vehicles, the track is driven by the sprocket. During tracking, the velocity cannot change abruptly, or it will cause extra slippage of the track and mechanical damage of the whole system. Considering the dynamic constraints of the track, a cubic spline cure, which could meet the dynamic limits, is chosen as the tracking trajectory. Also the kinematic and positional error model of tracked vehicles is established. The control algorithm is implemented in MATLAB, and after a series of simulation, co-efficiency the curve is determined to better the validity and accuracy of the control system. Through comparison with PID control strategy in previous work, the superiority of this algorithm is confirmed

Keywords: Tracked vehicle, Path tracking, Algorithm

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ABOUT THE AUTHORS

Han Qing-Jue
Central South University

LIU Shao-jun
State Key Laboratoty of Deep Sea Resources Development and Utilization Technology, Changsha Research institute of mining and Metallurgy, Changsha, Hunan, 410083, China


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