Steering Path Planning Method for Tracked Vehicles Based on Soft Terrain
Jiaxiong Wu, Shudi Yang, Xiaoxi Li, Li Zhao, Jiashuo Dong, Yonggang Fan · Advances in transdisciplinary engineering · 2025
Trajectory planning of unmanned tracked vehicles is an important research field in autonomous technology. However, the existing path planning methods do not consider the mechanical carrying capacity of special soft terrain. Based on the problem that the existing methods seriously affect the safe passage of vehicle steering, a path planning method oriented to the steering traffic of tracked vehicles on soft terrain is proposed. The method is based on raster map and uses A-star path planning algorithm. On this basis, the turning point is extracted from the path, and the curvature of the turning point is controlled by combining the steering dynamics model of tracked vehicle in soft soil. It can predict the ability of the tracked vehicle to avoid obstacles in the thin soft soil of the mudflats. This method improves the lack of soft soil permeability assessment in path planning, and provides a theoretical basis for unmanned vehicle path planning technology under extreme ground conditions.