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.

中文翻译：

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基于改进A*和DWA算法的履带车辆自动泊车路径规划

与轮式车辆相比，履带式车辆在救灾和工程现场具有得天独厚的优势。履带车辆的工作环境多为定点工况，高精度的自动停车对履带车辆至关重要。本文提出了改进的A*和动态窗口方法来提高履带车辆自动泊车的准确性和速度。停车轨迹在低偏差内得到显着优化。并设计样机验证定点停车工况，提高工程救援工作效率。基于机器人操作系统的仿真结果表明，无论是单步停车还是两步停车，均能在不发生碰撞的情况下到达停车位置。更重要的是，模拟和实验停车位置和角度在可接受的范围内具有相当大的准确性。该研究对履带车辆在各种极端应用场景下的高精度自动泊车具有重要的指导和应用价值。