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 $Y$

$F_i,R_i,F_o,R_o$