Research on Steering Path Tracking Performance of Articulated Quad-Tracked Vehicle Based on Fuzzy PID Control

The articulated quad-track vehicles exhibit excellent mobility and obstacle-crossing capabilities in outdoor environments, making them widely applicable in agriculture and military fields. Their steering control is a complex issue influenced by numerous factors. To reduce the computational complexity of the controller, achieve rapid system response, and simultaneously improve the stability and precision of the articulated quad-track vehicles during the steering control process, an optimal matching analysis is performed between the inner and outer track speed ratios and the deflection angles at the front and rear articulation points of the vehicle. By utilizing fuzzy proportional–integral–derivative control and visual navigation, a path-tracking control experimental platform for the articulated quad-track vehicle is designed. Through a combination of virtual prototype simulations and physical experiments, the distance deviation and heading angle deviation between the actual driving path of the virtual and experimental prototypes and the preset path are analyzed. The designed path–tracking control system can adjust the driving speeds of the left and right tracks and the articulation point deflection angle based on the preset driving path, enabling the vehicle to track the path. Under stable steering conditions, the distance deviation is within 0.1 m, and the heading angle deviation is within 6°, demonstrating excellent control performance.