Research on a Path-Tracking Control System for Articulated Tracked Vehicles

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CUI, Da ;WANG, Guoqiang ;ZHAO, Huanyu ;WANG, Shuai .
Research on a Path-Tracking Control System for Articulated Tracked Vehicles. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 66, n.5, p. 311-324, may 2020. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/research-on-a-path-tracking-control-system-for-articulated-tracked-vehicles/>. Date accessed: 19 apr. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2019.6463.
Cui, D., Wang, G., Zhao, H., & Wang, S.
(2020).
Research on a Path-Tracking Control System for Articulated Tracked Vehicles.
Strojniški vestnik - Journal of Mechanical Engineering, 66(5), 311-324.
doi:http://dx.doi.org/10.5545/sv-jme.2019.6463
@article{sv-jmesv-jme.2019.6463,
	author = {Da  Cui and Guoqiang  Wang and Huanyu  Zhao and Shuai  Wang},
	title = {Research on a Path-Tracking Control System for Articulated Tracked Vehicles},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {66},
	number = {5},
	year = {2020},
	keywords = {articulated tracked vehicle, path tracking, fuzzy-PID controller, co-simulation, visual navigation},
	abstract = {To achieve path-tracking control of articulated tracked vehicles (ATVs), a control system is designed according to the structural characteristics of the ATVs. The distance deviation and heading angle deviation between the vehicle and the pre-set trajectory are employed as input variables to the controller to control the relative deflection angle of the hinge of the vehicle and the velocity of the sprockets and realize the function of the path tracking control. The effects of two control algorithms are simulated with a RecurDyn/Simulink co-simulation; the results show that the fuzzy proportional-integral-derivative (PID) has a better control effect and precision when compared with the PID method. To verify the effect of the proposed controller, a scaled model test platform that is based on visual navigation is developed. Physical experiments were conducted to show the efficacy of the proposed path-tracking control system, which can effectively track the pre-set trajectory and achieve an optimal control outcome.},
	issn = {0039-2480},	pages = {311-324},	doi = {10.5545/sv-jme.2019.6463},
	url = {https://www.sv-jme.eu/article/research-on-a-path-tracking-control-system-for-articulated-tracked-vehicles/}
}
Cui, D.,Wang, G.,Zhao, H.,Wang, S.
2020 May 66. Research on a Path-Tracking Control System for Articulated Tracked Vehicles. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 66:5
%A Cui, Da 
%A Wang, Guoqiang 
%A Zhao, Huanyu 
%A Wang, Shuai 
%D 2020
%T Research on a Path-Tracking Control System for Articulated Tracked Vehicles
%B 2020
%9 articulated tracked vehicle, path tracking, fuzzy-PID controller, co-simulation, visual navigation
%! Research on a Path-Tracking Control System for Articulated Tracked Vehicles
%K articulated tracked vehicle, path tracking, fuzzy-PID controller, co-simulation, visual navigation
%X To achieve path-tracking control of articulated tracked vehicles (ATVs), a control system is designed according to the structural characteristics of the ATVs. The distance deviation and heading angle deviation between the vehicle and the pre-set trajectory are employed as input variables to the controller to control the relative deflection angle of the hinge of the vehicle and the velocity of the sprockets and realize the function of the path tracking control. The effects of two control algorithms are simulated with a RecurDyn/Simulink co-simulation; the results show that the fuzzy proportional-integral-derivative (PID) has a better control effect and precision when compared with the PID method. To verify the effect of the proposed controller, a scaled model test platform that is based on visual navigation is developed. Physical experiments were conducted to show the efficacy of the proposed path-tracking control system, which can effectively track the pre-set trajectory and achieve an optimal control outcome.
%U https://www.sv-jme.eu/article/research-on-a-path-tracking-control-system-for-articulated-tracked-vehicles/
%0 Journal Article
%R 10.5545/sv-jme.2019.6463
%& 311
%P 14
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 66
%N 5
%@ 0039-2480
%8 2020-05-26
%7 2020-05-26
Cui, Da, Guoqiang  Wang, Huanyu  Zhao, & Shuai  Wang.
"Research on a Path-Tracking Control System for Articulated Tracked Vehicles." Strojniški vestnik - Journal of Mechanical Engineering [Online], 66.5 (2020): 311-324. Web.  19 Apr. 2021
TY  - JOUR
AU  - Cui, Da 
AU  - Wang, Guoqiang 
AU  - Zhao, Huanyu 
AU  - Wang, Shuai 
PY  - 2020
TI  - Research on a Path-Tracking Control System for Articulated Tracked Vehicles
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2019.6463
KW  - articulated tracked vehicle, path tracking, fuzzy-PID controller, co-simulation, visual navigation
N2  - To achieve path-tracking control of articulated tracked vehicles (ATVs), a control system is designed according to the structural characteristics of the ATVs. The distance deviation and heading angle deviation between the vehicle and the pre-set trajectory are employed as input variables to the controller to control the relative deflection angle of the hinge of the vehicle and the velocity of the sprockets and realize the function of the path tracking control. The effects of two control algorithms are simulated with a RecurDyn/Simulink co-simulation; the results show that the fuzzy proportional-integral-derivative (PID) has a better control effect and precision when compared with the PID method. To verify the effect of the proposed controller, a scaled model test platform that is based on visual navigation is developed. Physical experiments were conducted to show the efficacy of the proposed path-tracking control system, which can effectively track the pre-set trajectory and achieve an optimal control outcome.
UR  - https://www.sv-jme.eu/article/research-on-a-path-tracking-control-system-for-articulated-tracked-vehicles/
@article{{sv-jme}{sv-jme.2019.6463},
	author = {Cui, D., Wang, G., Zhao, H., Wang, S.},
	title = {Research on a Path-Tracking Control System for Articulated Tracked Vehicles},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {66},
	number = {5},
	year = {2020},
	doi = {10.5545/sv-jme.2019.6463},
	url = {https://www.sv-jme.eu/article/research-on-a-path-tracking-control-system-for-articulated-tracked-vehicles/}
}
TY  - JOUR
AU  - Cui, Da 
AU  - Wang, Guoqiang 
AU  - Zhao, Huanyu 
AU  - Wang, Shuai 
PY  - 2020/05/26
TI  - Research on a Path-Tracking Control System for Articulated Tracked Vehicles
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 66, No 5 (2020): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2019.6463
KW  - articulated tracked vehicle, path tracking, fuzzy-PID controller, co-simulation, visual navigation
N2  - To achieve path-tracking control of articulated tracked vehicles (ATVs), a control system is designed according to the structural characteristics of the ATVs. The distance deviation and heading angle deviation between the vehicle and the pre-set trajectory are employed as input variables to the controller to control the relative deflection angle of the hinge of the vehicle and the velocity of the sprockets and realize the function of the path tracking control. The effects of two control algorithms are simulated with a RecurDyn/Simulink co-simulation; the results show that the fuzzy proportional-integral-derivative (PID) has a better control effect and precision when compared with the PID method. To verify the effect of the proposed controller, a scaled model test platform that is based on visual navigation is developed. Physical experiments were conducted to show the efficacy of the proposed path-tracking control system, which can effectively track the pre-set trajectory and achieve an optimal control outcome.
UR  - https://www.sv-jme.eu/article/research-on-a-path-tracking-control-system-for-articulated-tracked-vehicles/
Cui, Da, Wang, Guoqiang, Zhao, Huanyu, AND Wang, Shuai.
"Research on a Path-Tracking Control System for Articulated Tracked Vehicles" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 66 Number 5 (26 May 2020)

Authors

Affiliations

  • Jilin University, School of Mechanical and Aerospace Engineering, China 1

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 66(2020)5, 311-324

https://doi.org/10.5545/sv-jme.2019.6463

To achieve path-tracking control of articulated tracked vehicles (ATVs), a control system is designed according to the structural characteristics of the ATVs. The distance deviation and heading angle deviation between the vehicle and the pre-set trajectory are employed as input variables to the controller to control the relative deflection angle of the hinge of the vehicle and the velocity of the sprockets and realize the function of the path tracking control. The effects of two control algorithms are simulated with a RecurDyn/Simulink co-simulation; the results show that the fuzzy proportional-integral-derivative (PID) has a better control effect and precision when compared with the PID method. To verify the effect of the proposed controller, a scaled model test platform that is based on visual navigation is developed. Physical experiments were conducted to show the efficacy of the proposed path-tracking control system, which can effectively track the pre-set trajectory and achieve an optimal control outcome.

articulated tracked vehicle, path tracking, fuzzy-PID controller, co-simulation, visual navigation