A Path Planning Method with Energy Consumption Consideration for Electric Tracked Vehicle

In this paper, a path planning method was proposed, considering skid-steer features and energy-consumption for electric tracked vehicle. Firstly, considering skid-steer motion features, a kinematic model of the tracked vehicle was built based on instantaneous centers of rotation. And a dynamic model was established based on the exponential friction theory for the tracked vehicles. Then, considering the instantaneous power of motor, the vehicle energy consumption model was established. Finally, based on the control space sampling path planning method, integrating the tracked vehicle models, a multi-objective optimization path planning method was designed, considering energy consumption. The results of simulation experiments verify the feasibility, energy-saving efficiency and superiority of the proposed multi-objective optimization path planning method with energy consumption consideration for the tracked vehicle.