Automatic Parking Path Planning of Tracked Vehicle Based on Improved A* and DWA Algorithms

Compared to wheeled vehicles, tracked vehicles have unique advantages in disaster relief and engineering sites. The working environment of tracked vehicles is mostly in fixed-point conditions, so high-precision automatic stopping is essential for tracked vehicles. Improved A* and dynamic window approach are proposed in this article to enhance the accuracy and speed of automatic parking of tracked vehicles. The parking trajectory is significantly optimized within low deviations. Furthermore, a prototype is designed to verify the working conditions of fixed-point parking to improve the work efficiency of engineering rescue. The simulation results based on the robot operating system show that both single- and two-step parking methods can reach the parking position without collision. More importantly, simulated and experimental parking positions and angles have considerable accuracy within acceptable limits. This study has essential guidance and application value for the high-precision automatic parking of tracked vehicles for various extreme application scenarios.