Path Tracking Control of Micro-Tracked Mobile Robot

摘要

The positioning accuracy of tracked mobile robot is low because of sliding in steering process. Taking the micro-tracked mobile robot as the platform, the interface force between tracks and ground was analyzed, and the motor model, kinematic model and dynamic model were established further. A tracking error controller was built based on the tracking error equations, and the co-simulation of mechanical and control system was applied to predict the robot’s trajectory. That controller was applied on a small tracked mobile robot designed by the authors’ laboratory, and the path tracking experiments with and without obstacles had been done. The results show that the robot can accurately track the given path, whether there are obstacles or not.