Path tracking control method for tracked agricultural vehicles based on slip-aware look-ahead point offset
The results confirm that incorporating slip estimation and slip-aware target-point offset compensation effectively enhances path-tracking accuracy and robustness for tracked agricultural vehicles operating on soft and high-slip terrain. The proposed lightweight control framework provides a practical and reliable solution for autonomous navigation and plant-protection operations in complex farmland environments.
Authors
- Huanyu Liu (ORCID: https://orcid.org/0000-0002-7944-7395)
- Zhihang Han
- Junwei Lucas Bao (ORCID: https://orcid.org/0000-0002-4967-663X)
- Jian Mu (ORCID: https://orcid.org/0000-0001-9418-3650)
- Hewen Tan
- Jiaqin Yin
- Xiangnan Liu
Institutions
- Xihua University (CN)
- Inner Mongolia Academy of Agricultural & Animal Husbandry Sciences (CN)
Publication Details
- Journal
- Frontiers in Plant Science
- Published
- 2026-01-05
- DOI
- https://doi.org/10.3389/fpls.2025.1754679
- Primary Topic
- Control and Dynamics of Mobile Robots
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Natural Science Foundation of China
- Xihua University
- Natural Science Foundation of Sichuan Province