# Research on the Obstacle-Avoidance Steering Control Strategy of Tracked Inspection Robots
###### Abstract
His general theory was derived from a detailed analysis of the relationship between shear stress-displacement in track-ground interaction. [PERSON] established a steering mechanics model of an articulated tracked vehicle and determined the kinematics and mechanics-related parameters in its steering process of articulated tracked vehicles [11]. [PERSON] studied the steering control strategy of electric-driven vehicles through the track's skid and slip, which can reduce the influence of the track's skid and slip on the kinematic control of electric-driven vehicles during vehicle steering [12]. [PERSON] designed a steering device for an unmanned agricultural power chassis by compensating the power differential steering with a motor and realized the in-place steering of the chassis [13]. [PERSON] established the relationship between the steering slip rate of high- and low-speed side tracks and steering-related parameters, built a steering motion parameter test system for a tracked combine harvester, and completed the field experiment. [14]. [PERSON] constructed a multibody dynamics model of a submarine tracked collector and realized an integrated construction and linkage simulation of the multibody dynamics model of the entire deep-sea mining system [15]. [PERSON], in order to further improve the adaptability of the crawler chassis under complex driving road conditions, used the topographic and geomorphological characteristics of the hillside orchard to carry out slope trafficability analysis of the tracked chassis [16]. The trajectory-tracking control of a tracked robot with nonholonomic constraints resembles that of wheeled robot, which has become a focus of research interest. When a tracked robot turns, its ability is usually poor due to the large sliding degree of the track, which is more obvious in the skid and slip of the two tracks. The above literature shows that tracked robots are applied in all industries, but under different road conditions, and although the control parameters of tracked robots are the same, the pressure, shear force generated by tracked robots on the road surface, and steering resistance of the robot on the ground are different, which affects the steering characteristics of the robot [17]. The track-ground interaction is important for predicting the turning resistance of tracked robot [18]. Therefore, it is necessary to further study the steering mechanism of the tracked robot and formulate the corresponding control strategy according to the road environment, its own structural characteristics, and its own driving parameters for completing driving control tasks [19]. To realize autonomous navigation of tracked robots in complex environments, it is necessary to quantitatively analyze the steering of the tracked robot and determine its control parameters to actively avoid obstacles on different roads. The paper is organized as follows: Firstly, the structure, the skid and slip rate, and the steering radius of a tracked robot were analyzed. Secondly, the kinematic and dynamic models of the tracked mobile robot were established. Thirdly, the rationality of obstacle-avoidance steering control strategies of the tracked robot were analyzed by simulation. Finally, a theoretical analysis structure was used to guide the tracked robot to complete the related performance tests.