Construction of path trackingcontrol method and establishment of autonomous navigation for tracked vehicleson rough terrain

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A path tracking control method for tracked vehicles, which compensates slippage of crawlers, was constructed. A position estimation method in consideration of the slippage and drag force from a ground was also constructed. As for the tracking control, simulations and experiments show that the control method makes the vehicle possible to follow a desired path, although the tracking performance degrades on a place where characteristics of the ground change. As for the position estimation method, we found that accuracy of estimation decreased on the place where characteristics of the ground changed. Further improvement to add an automatic calibration of sensors is required.