Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles

TL;DR

This paper presents a comprehensive framework for tracked vehicle navigation, combining detailed simulation, a simplified control model, and robust control and planning methods validated through extensive simulations and experiments.

Contribution

It introduces a pseudo-kinematic control model and a Lyapunov-based controller for tracked vehicles, bridging complex dynamics with theoretically sound navigation solutions.

Findings

Faithful digital twins across diverse conditions

Certifiable tracking guarantees with Lyapunov control

Effective motion planning with various complexity-accuracy balances

Abstract

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective, however, this flexibility comes at a cost: the complexity of modelling the system and the resulting difficulty in designing theoretically sound navigation solutions. In this paper, we aim to bridge this gap by proposing a framework for the navigation of tracked vehicles, built upon three key pillars. The first pillar comprises two models: a simulation model and a control-oriented model. The simulation model captures the intricate terramechanics dynamics arising from soil-track interaction and is employed to develop faithful digital twins of the system across a wide range of operating conditions. The control-oriented model is pseudo-kinematic and mathematically tractable, enabling the design of efficient and theoretically robust control schemes. The second pillar is a Lyapunov-based feedback trajectory controller that provides certifiable tracking guarantees. The third pillar is a portfolio of motion planning solutions, each offering different complexity-accuracy trade-offs. The various components of the proposed approach are validated through an extensive set of simulation and experimental data.