Development of Path Tracking Controller for An Autonomous Tracked Vehicle

This study presents the development of autonomous tracked vehicle and its path tracking control. The path tracking controller was developed based on the previous study and later modified by adding a PID controller to improve the sensitivity of the controller. Then, the tracked vehicle and controller proposed were tested by using a Matlab/Simulink software. The validation process was completed at two different path; straight line path and hook path. The result shows a big improvement for both cases where an improvement of 40% had been archived by using a proposed controller in this study.

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