Development of path tracking control of a tracked vehicle for an unmanned ground vehicle

Simulation of complex surface driving performance of all-terrain walking mechanism

“…This diversity of terrain poses serious challenges to military operations, especially rapid deployment and effective combat capabilities in extreme environments [1] . Similarly, with the changing geopolitical situation and increasing regional security threats, the Chinese military faces unprecedented challenges in responding quickly to emergencies and effectively carrying out border patrol tasks [2,3] . Traditional military vehicles have limited mobility in complex terrain and cannot effectively cope with extreme terrain conditions, such as swamps, deserts, snow and steep mountains.…”

Common Noninteracting Control with Simultaneous Common Partial Zeroing with Application to a Tracked UGV

“…The precision and accuracy of the operations of Tracked UGVs depend greatly upon control efficiency. Several approaches and models were proposed (indicatively, see [15,16,[22][23][24][25][26][27][28][29][30][31][32][33]) to handle the issue. In [15,16], a two-model variable switching description of a robot-tracked vehicle was proposed.…”

“…In [23], a switching dynamic description of a tracked vehicle was presented, and a speed-regulating control strategy and a torqueregulating control strategy were developed. In [24], the mathematical description of a tracked vehicle was presented in modular form, and a Stanley-type controller was derived. In [25], the mathematical description model of a 3DOF-tracked mobile robot, including the dynamics and kinematics of the skid-steering mechanism, was presented, and a PID controller was applied to control the speed of the vehicle.…”