Trajectory Tracking Control of Differential Tracked Robots Based on Three-Dimensional Interpolation and Model Predictive Control

The trajectory tracking of differential tracked robots faces challenges such as system uncertainties and low tracking accuracy. To address this issue, a differential tracked robot kinematic model was established based on the instantaneous center of rotation. A three-dimensional equivalent interpolation method for two-dimensional planar paths was proposed. A model predictive controller(MPC) incorporating the three-dimensional equivalent distance was designed. This controller calculated the error model, linearized it through Taylor expansion, and transformed it into a standard quadratic programming problem, making it more suitable for mobile robots with limited computational resources. Finally, the control performance of the proposed method was verified in both simulation environments and robot prototypes. The results indicate that the designed controller achieves high tracking accuracy and can adapt to complex polygonal paths.