Vector Pursuit 알고리즘을 이용한 궤도차량의 경로추적에 관한 연구

Abstract

In this paper, the path tracking approach is proposed for tracked vehicle driving on the soft cohesive soil. Firstly, to generate the vehicle's motion following the specified path, a vector pursuit algorithm which is based on screw theory is applied. To control the vehicle as the generated motion, the relation information between soil and vehicle track must be needed. Here, the relation is directly obtained from draw-bar pull test. Finally, to analysis the performance of proposed algorithm, the path tracking experiment is done for the manufactured tracked vehicle model.