履带车辆自动驾驶导航控制模型优化

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中图分类号：S24；TP301.6 文献标识码：A 文章编号：2095-5553（2025）07-0273-08

Abstract：To solve problems such as low navigation control accuracy and poor path smoothness inautomatic driving， this study proposes a navigation control model and optimization algorithm for caterpillar vehicles basedon path tracking. Based ocontrol theory and kinematics model of automatic driving navigation controlforcaterpillr vehicle，the path trackingalgorithm forwheeedvehicleisapplied tocaterpillarvehicleandoptimized.Thestudyproposesapure pursuit algorithm and a system parameter optimization algorithm based on dynamic forward-looing distance and diferential steringerrorfactors.Theexperimental resultsexhibit anaverage U-shapedpath trackingerrorof0.38 m and an endpoint position error of 0.01m . On a 1Oo meter straight path，the optimized error averaged 0.02m ，with an endpoint position error of0. 01m .These results show that the proposed model and optimization algorithm significantly reducepath tracking errors ofcaterpillarvehiclesandeliminatefrequentunilateralpausesduring traditionaldiferential steering，achieving continuousand smooth path trackingandimproving the automatic driving performance of caterpillar vehicles.

Keywords：caterpillar vehicles；automatic driving；navigation control；path tracking

0 引言

履带车辆良好的通过性能在现代工程、农业、军事等领域发挥着重要作用[1]。（剩余13167字）