Path Tracking Control of Tracked Vehicles

Introduction

这篇文章主要就是建立了一个dynamic model (including track-soil interactions), 然后建立了一个controller。
然后在仿真器中测试了一下。The result is an accurate control of the lateral offset and forward velocity error along a path.

这篇文章使用的也会是skid steering, which involves complicated ground-track interactions. Traction forces are produced by the shear stress created by the track slippage relative to the ground.

The resultant of the two track forces creates both the driving force needed for forward motion and the turning torque needed for steering.

Dynamic Modeling

上图的这种情况是the vehicle is turning in the positive direction, from $X$ to $Y$

$F_i,R_i,F_o,R_o$ are the traction and resistance forces exerted to the vehicle through the “inner” and “outer” tracks.
$C.G.$ is the center of gravity.
$C$ is the instantaneous center of rotation
$f_y$ is the lateral friction distribution, 在履带上某一点$f_y$的方向取决于该点的方向

$$M\ddot{x}=F_i-R_i+F_o-R_o$$ $$M\ddot{y}=4f_y{d}_s$$ $$I\ddot{\psi }=(F_o-R_o)b-(F_i-R_i)b-2f_y(l^2-d_s^2)$$

Path Tracking Control

The friction force are large and if neglected in the controller, produce large tracking errors.

The overall control objective is to drive the vehicle from a starting point to any other point in a horizontal plane. This includes the “planning” and the “control” problem.

这篇文章专注解决control problem with the assumption that the desired path is given.
desired path是用离散点进行描述的，每个离散点还要让planner指定速度。

Reference

[6]和[10]要看一下。