@inproceedings{d736fab8e02642e6868fc863dd2e7fa7,
title = "Slipping Control of Tracked Vehicles in Shallow Water Areas",
abstract = "Unmanned tracked vehicles have a crucial role in clearing unexploded ordnance in shallow water areas; however, underwater sludge can lead to track slippage. The tracked vehicle necessitates superior anti-slip performance for operations in such conditions. This paper initially formulates a comprehensive dynamic model of the tracked vehicle founded on environmental characteristics. Subsequently, it devises a Fuzzy-PID controller aimed at diminishing the tracked vehicle's slip rate during motion. The motion model of the tracked vehicle is established using the Recurdyn environment. The Fuzzy-PID controller is implemented within the MATLAB/Simulink environment. The control strategy is validated through the collaborative simulation of Recurdyn and MATLAB/Simulink. Two scenarios, encompassing flat and uneven road surfaces, are introduced to substantiate the control strategy's efficacy. Simulation outcomes demonstrate the effectiveness of the suggested Fuzzy-PID control strategy in stabilizing the slip rate. These findings furnish an empirical foundation for the stable underwater operation of tracked vehicles.",
keywords = "Fuzzy-Pll), slipping control, tracked vehicle",
author = "Hongyu Lan and Yongchen Han and Weichao Wu and Shaojie Wang and Chen Bai and Haotian Shen",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 8th International Conference on Robotics and Automation Engineering, ICRAE 2023 ; Conference date: 17-11-2023 Through 19-11-2023",
year = "2023",
doi = "10.1109/ICRAE59816.2023.10458465",
language = "English",
series = "2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "216--223",
booktitle = "2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023",
address = "United States",
}