연약점성토양에서 궤도차량의 주행을 위한 Vector Pursuit 알고리즘을 이용한 경로 추적

Abstract

This paper deals with path tracking control of tracked vehicle on extremely soft cohesive soil. The dynamics of tracked vehicle is very complex and nonlinear because of the slippage of vehicle and the soil shearing. For the purpose of control of tracked vehicle we adopted simplified approaches. The vehicle is modeled as single-body vehicle.