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A new method of path tracking is illustrated in this paper, which depicts the movements of the tractor through corresponding vectors on rectangular coordinates. In this method, the desired angle of backward motion is set on rectangular coordinates. Vectors of angle changes are sorted out by analyzing tractor’s motions. Finally, combine all the behavior vectors and ensure the tractor’s motion angle changing within the set range. This method has a simple design, featuring strong robustness with loose demand on equipment accuracy. It can meet certain accuracy requirements.

Control Algorithm for the Backward Movement of the Differential-driven Robot with Two Trailers