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<p>Trajectory tracking control technology plays an essential role in the tracked bulldozer. Considering the uncertainties of the road surface and different operating conditions is a difficult problem to achieve accurate motion control of the vehicle. In this paper, a vehicle kinematic model considering the sliding characteristics of the track is established, a pure pursuit control model of the tracked bulldozer is established, and the control effect under different slip rates and different target tracking speeds is studied. The tracked chassis based on the robot operating system is designed, and three simulated experimental roads such as plastic film soft pavement, smooth hard pavement, and carbon sand calcium pavement are established, and the pure pursuit control effect under different pavements is tested. The results show that when the deviation value of the track slip rate on both sides is large, the tracking error of the vehicle is large and the stability becomes worse. Experiments show that the trajectory tracking control system based on the pure pursuit control strategy is susceptible to the influence of road surface adhesion conditions and performance.</p>

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Trajectory Tracking Based on Pure Pursuit Control for Unmanned Tracked Vehicle Considering Track Slipping Characteristics

  • 期刊论文

  • 发表日期：

    2025年7月28日

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  • Yong Li,
  • Yizhe Su,
  • Xiaobo Zhou,
  • Yaping Qu,
  • Dingchang He

摘要

Trajectory tracking control technology plays an essential role in the tracked bulldozer. Considering the uncertainties of the road surface and different operating conditions is a difficult problem to achieve accurate motion control of the vehicle. In this paper, a vehicle kinematic model considering the sliding characteristics of the track is established, a pure pursuit control model of the tracked bulldozer is established, and the control effect under different slip rates and different target tracking speeds is studied. The tracked chassis based on the robot operating system is designed, and three simulated experimental roads such as plastic film soft pavement, smooth hard pavement, and carbon sand calcium pavement are established, and the pure pursuit control effect under different pavements is tested. The results show that when the deviation value of the track slip rate on both sides is large, the tracking error of the vehicle is large and the stability becomes worse. Experiments show that the trajectory tracking control system based on the pure pursuit control strategy is susceptible to the influence of road surface adhesion conditions and performance.