Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence model uncertainties significantly reduces a vehicle when the is traversing an unknown terrain or inertial parameters vary due to mission schedule external disturbances. A comprehensive mathematical skid steering tracked presented in this paper and used design control law. A...

This paper presents a systematically derived theoretical model for the motion of tracked vehicles, encompassing various scenarios such as soft terrain and slopes. The considers all resistances encountered by including track-terrain interaction, grade air resistance, centrifugal force, inertial forces, turning resistance. heading angle determines geometrical orientation vehicle on slope. A MATLA...

This paper deals with path tracking control of tracked vehicle on extremely soft cohesive soil. The dynamics of tracked vehicle is very complex and nonlinear because of the slippage of vehicle and the soil shearing. For the purpose of control of tracked vehicle we adopted simplified approaches. The vehicle is modeled as single-body vehicle. Two kinds of PD (Proportional-Differential) controller...