关键词: 履带车辆, 自动驾驶, 导航控制, 路径跟踪

Abstract: To solve problems such as low navigation control accuracy and poor path smoothness in automatic driving, this study proposes a navigation control model and optimization algorithm for caterpillar vehicles based on path tracking. Based on control theory and kinematics model of automatic driving navigation control for caterpillar vehicle, the path tracking algorithm for wheeled vehicle is applied to caterpillar vehicle and optimized. The study proposes a pure pursuit algorithm and a system parameter optimization algorithm based on dynamic forward-looking distance and differential steering error factors. The experimental results exhibit an average U-shaped path tracking error of 0.38m and an endpoint position error of 0.01m. On a 100 meter straight path, the optimized error averaged 0.02m, with an endpoint position error of 0.01m. These results show that the proposed model and optimization algorithm significantly reduce path tracking errors of caterpillar vehicles and eliminate frequent unilateral pauses during traditional differential steering, achieving continuous and smooth path tracking and improving the automatic driving performance of caterpillar vehicles.

Key words:  , caterpillar vehicles, automatic driving, navigation control, path tracking