# Simulation and Validation of a Steering Control Strategy for Tracked Robots
## 1 Introduction  
Tracked robots are widely used in various industries for inspection purposes [1; 2]. [PERSON] et al. designed a triangular tracked regenerative rice harvester for use in agriculture [3]. [PERSON] et al. engineered a compact, four-track articulated fire-extinguishing robot with four-wheel drive capability, enabling it to adeptly conduct fire detection and extinguishing operations within confined spaces and on challenging terrain [4]. [PERSON] et al. pointed out that the traveling speed and payload of tracked vehicles have important effects on the motion and traction power efficiency of vehicles, and the sliding power efficiency of tracked vehicles mainly depends on the load weight [5]. It is difficult to achieve precise control of tracked robots, and one of the most challenging issues faced by the designers ormanufacturers of these robots is accurately predicting their motion due to the complex and nonlinear interaction between the tracks and the terrain during skid-steering curves [6]. [PERSON] et al. established a simplified geometric model of a tracked combine taking into account the influence of the header and track on headland turning, and concluded that the differential steering of a tracked combine can significantly improve work efficiency [7]. Researchers worldwide have undertaken comprehensive investigations into the steering mechanisms of tracked robots, considering the influence of track skip and slip. For example, [PERSON] et al. developed a dynamic model with high computational accuracy and studied the steering stability of tracked vehicles in sandy road environments under different conditions [8]. [PERSON], et al. proposed a new dynamic modeling method and motion control approach for a submarine tracked vehicle, proving its stability using Lyapunov theory [9]. [PERSON], et al. compared the multi-body dynamics model of Recurdyn/Track with an established model to verify its accuracy in the time and frequency domains, considering the transient characteristics of orbit-ground contact [10]. [PERSON] et al. optimized the backstepping controller as a kinematic controller and verified the stability analysis of the entire system using Lyapunov theory [11]. [PERSON], et al. developed a dynamic model for a crawler-type wall-climbing robot with negative pressure adsorption, analyzing the influence of design parameters on its motion performance [12]. [PERSON], et al. proposed a new method that can accurately test the slip coefficient of tracked vehicles under different ground conditions to reduce the influence of the slip coefficient of tracked vehicles on the steering process [13]. [PERSON], et al. established a model that can reverse-calculate the current and voltage signals of tracked ATVs in a specific trajectory, so as to provide a theoretical basis for the trajectory control of tracked articulated vehicles [14]. The above literature Indicates that tracked robots are used in all industries. However, the steering control strategy of the tracked robot is different for different environments, traveling speeds, and structural parameters [15]. Therefore, it is necessary to formulate a robot driving control strategy based on the structural characteristics of the tracked robot, combined with road environment information and driving control requirements, and complete robot inspection tasks [16]. In this paper, we propose the development and simulation of a tracked robot steering control strategy in ADAMS software. Firstly, the body structure and related parameters of the tracked robot were introduced. Secondly, considering the influence of track skid and slip, relationship models about the steering radius and traveling speed of the robot were established in Matlab(2022b) software. The influence of the relative position change between the tracked robot and obstacle on the steering control of the robot was studied and analyzed, and corresponding steering control strategies were formulated.