Modeling and Optimal Trajectory Tracking Control of an Autonomous Tracked Mobile Robot Using a Modified PID Controller and Backstepping

Tracked Mobile Robots (TMRs) are extensively utilized in applications that demand high mobility across difficult terrains, such as military reconnaissance and search and rescue operations. The trajectory tracking problem for autonomous TMRs has garnered considerable attention and has emerged as a focal point of contemporary research. In this paper, a control strategy is developed using an integration of the kinematic backstepping approach with a modified PID controller. Given that the performance of the proposed controller is highly dependent on the appropriate selection of gain parameters, determining their optimal values is of paramount importance. Consequently, the Particle Swarm Optimization (PSO) algorithm is employed to optimize the parameters of both the PID and backstepping controllers. The mathematical model includes a comprehensive kinematic and dynamic model while considering the effects of external disturbances and slippage, which increases the accuracy of the proposed controller. Finally, simulation results demonstrated the effectiveness of the proposed controller by allowing the tracked robot to precisely follow the desired trajectory.