Tracing Control for a Tracked Vehicle Based on a Virtual Wheeled Mobile Robot

摘要

Although a tracked vehicle enables stable movements on rough terrain, in a rotating motion no fixed kinematic model such as the model of wheeled mobile robot exists. Hence, it is difficult to realize a autonomous driving control of the tracked vehicle. In this paper, a new tracking control method for a tracked vehicle is described. The proposed method is constructed by using a virtual wheeled mobile robot.