Design of a path-following controller based on a new tracked vehicle kinematics model

In order to improve the tracking accuracy of tracked vehicle in the process of automatic navigation. This paper combines the position and posture changes of the tracked vehicle to derive the kinematics model, and establishes the kinematics equations about the vehicle yaw rate and spatial position coordinates. According to the requirements for the convergence speed and stability of the lateral error and the rate of change of the lateral error, a steering controller combining kinematics model and state feedback system is designed. Combined with the vehicle speed and the yaw rate output by the system, the speed of the driving wheels on both sides of the track is controlled by controlling the steering angle, so as to realize the differential steering control. The simulation and experimental results show that the controller is effective and can accurately track the target path of the tracked vehicle.