Title: Development of path tracking control of a tracked vehicle for an unmanned ground vehicle

Authors: Muhammad Akhimullah Subari; Khisbullah Hudha; Zulkiffli Abd Kadir; Syed Mohd Fairuz Bin Syed Mohd Dardin; Noor Hafizah Amer

Addresses: Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia

Abstract: This paper presents the development of path tracking control strategy for a tracked vehicle. A path tracking control strategy is developed using an established Stanley controller. In this study, the controller is integrated with geometric model based on Ackerman steering configuration to provide a relationship between the path tracking controller and tracked vehicle model. The tracked vehicle model consists of several modules such as kinematic model, velocity model, local and global coordinates, turning radius and dynamic model. The main contribution of this paper is the integration of path tracking control between tracked vehicle model and geometric model based on Ackerman steering configuration which is still limited in this research area. The validation of path tracking controller is completed in three various speeds, which are 0.5 m/s, 1 m/s and 3 m/s. All these three tests show that the percentage of error between desired path and the vehicle responses are below than 1% for all tests.

Keywords: tracked vehicle; path tracking control; Stanley controller; trajectory following.

DOI: 10.1504/IJAMECHS.2020.112628

International Journal of Advanced Mechatronic Systems, 2020 Vol.8 No.4, pp.136 - 143

Received: 19 Sep 2019
Accepted: 14 Aug 2020
Published online: 25 Jan 2021 *

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