Accurate path tracing of a tracked robot: a modified PID approach with slip compensation

摘要

Abstract The tracked robot functioning in unstructured and dynamic off-road environments poses significant challenges, necessitating sophisticated mathematical modeling. This paper explores the precise path-tracking capabilities of tracked robots in the presence of external disturbances. This study presents a model-based control method for tracked robots, using a modified PID controller. Genetic algorithms optimizes the control parameters to enhance tracking performance. The dynamic model of the robot has been implemented with kinematic backstepping to ensure velocity and position control. Considering the importance of accurately representing real-world scenarios, the mathematical model includes the robot dynamics, factoring in the influence of external disturbances and slippage, which increases the accuracy of the proposed control system. The output of the proposed controller was compared with the classical PID control technique on the basis of various performance indicators such as Integral Absolute Error (IAE), Integral Square Error (ISE), and sensitivity to disturbances. Simulation studies using MATLAB Simulink demonstrated the effectiveness of the proposed approach by enabling tracked robots to follow a desired path in complex terrain accurately. The developed controller was deployed on the experimental setup, and the trajectory tracking test was performed in indoor laboratory conditions. Experimental results show the robust performance and reliability of the modified PID controller, which provides precise path tracking while maintaining the reference robot's velocities.