Fig.1

Relationship among various motion parametersduring the steering of a tracked vehicle"

Fig.2

Variation of track-ground contact press under the influence of inertial force"

Fig.3

Force analysis during the steering of tracked vehicle"

Fig.4

Schematic diagram of trajectory tracking of a tracked vehicle"

Fig.5

Correspondence between vth and Δumax during turning of a tracked vehicle on sandy soil road surface"

Fig.6

Relationship between vth=6 m/s， Δu， and κ during turning of a tracked vehicle on sandy road surface"

Fig.7

Corresponding ku relationship between vth and κ of a tracked vehicle on a sandy road surface"

Fig.8

Working principle of the trajectory tracking control method based on feedforward compensation of dynamics"

Fig.9

Test vehicle and road surface"

Fig.10

Variation of vehicle state parameters during constant-speed circular steering of a tracked vehicle on sandy road surface"

Fig.11

Variation of steering trajectory and yaw rate error of a tracked vehicle on sandy road surface"

Table 1

Average yaw rate error and trajectory tracking error during ten constant-speed circular steering maneuvers of a tracked vehicle"

Fig.12

Variation of the traveling trajectory of tracked vehicle"

Fig.13

Variation of the traveling speed of tracked vehicle"

Fig.14

Variation of the track speed difference betweentwo sides of a tracked vehicle"

Fig.15

Variation of lateral error in trajectory trackingcontrol for a tracked vehicle"

Fig.16

Variation of heading angle error in trajectory tracking control for a tracked vehicle"

Fig.17

Computational time consumption of trajectory tracking control for a tracked vehicle"