Slipping Control of Tracked Vehicles in Shallow Water Areas

Unmanned tracked vehicles have a crucial role in clearing unexploded ordnance in shallow water areas; however, underwater sludge can lead to track slippage. The tracked vehicle necessitates superior anti-slip performance for operations in such conditions. This paper initially formulates a comprehensive dynamic model of the tracked vehicle founded on environmental characteristics. Subsequently, it devises a Fuzzy-PID controller aimed at diminishing the tracked vehicle's slip rate during motion. The motion model of the tracked vehicle is established using the Recurdyn environment. The Fuzzy-PID controller is implemented within the MATLAB/Simulink environment. The control strategy is validated through the collaborative simulation of Recurdyn and MATLAB/Simulink. Two scenarios, encompassing flat and uneven road surfaces, are introduced to substantiate the control strategy's efficacy. Simulation outcomes demonstrate the effectiveness of the suggested Fuzzy-PID control strategy in stabilizing the slip rate. These findings furnish an empirical foundation for the stable underwater operation of tracked vehicles.