关键词: 轨迹跟踪, 纯跟踪算法, 自适应预瞄, 模糊比例-积分-微分控制, 履带机器人

Abstract: To address the insufficient trajectory tracking accuracy and stability of tracked robots under complex path conditions, it proposes an integrated control method that combines enhanced Pure Pursuit (PP) algorithm with fuzzy PID. The Pure Pursuit algorithm is enhanced by dynamically optimizing the lead distance based on path curvature and motion velocity,enabling adaptive lead control that effectively reduces tracking errors. The desired velocity is dynamically calculated by integrating path curvature and destination distance,while a fuzzy inference mechanism adjusts PID parameters in real time to correct actual velocity,ensuring rapid response and end-point smoothness control. Simulation results demonstrate that compared to traditional pure pursuit algorithms,Pure Pursuit (PP) algorithm reduces average lateral error by 79.50 % and average heading error by 47.94 %. It significantly enhances the trajectory tracking accuracy and motion stability of tracked robots on complex paths,validating its excellent adaptability and robustness.

Key words: trajectory tracking, Pure Pursuit (PP) algorithm, adaptive pre-scoping, fuzzy Proportional-Integral-Derivative (PID) control, tracked robot