| Trajectory Tracking Based on Pure Pursuit Control for Unmanned Tracked Vehicle Considering Track Slipping Characteristics |
| Yong Li1,2,3,4, Yizhe Su1, Xiaobo Zhou4, Yaping Qu5, Dingchang He1 |
1Automotive Engineering Research Institute, Jiangsu University, 301 Xuefu Road, Zhenjiang, 212013, People’s Republic of China
2College of Biosystems Engineering and Food Science, Zhejiang University, 866 Yuhangtang Road, Hangzhou, 310058, People’s Republic of China
3The Key Laboratory for Crop Production and Smart Agriculture of Yunnan Province, Kunming, 650201, People’s Republic of China
4Key Laboratory of Agricultural Equipment Technology for Hilly and Mountainious Areas, Ministry of Agriculture and Rural Affairs, Chengdu, 610066, People’s Republic of China
5School of Management, Jiangsu University, 301 Xuefu Road, Zhenjiang, 212013, People’s Republic of China |
|
|
|
Received: December 9, 2024; Revised: June 15, 2025 Accepted: July 8, 2025. Published online: July 28, 2025. |
|
|
|
| ABSTRACT |
|
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. |
| Key Words:
Tracked vehicles · Pure pursuit control · Robot operating system · Track slip |
|
Corresponding Author.
Yong Li , Email. 
Preview 
Full text via DOI 
Download Citation
Print
