FIELD: vehicles.
SUBSTANCE: in a method for controlling steering of construction machines, a required trajectory is taken, and the first arc segment in the required trajectory is determined; a center of rotation is determined, and a location corresponding to the required center of rotation is taken. An actuation value is determined for each actuator, and actuators are actuated to rotate one or more tracks. An angle of deviation is determined for each track, and tracks are rotated. The error of tracking the trajectory from the required trajectory is measured; the error is converted into the angle of deviation at control points on the construction machine. Target angles of control points are calculated, and target angles of the control point are added to the angle of deviation to create a combined angle of attack. A synchronized center of rotation is calculated based on the intersection of lines obtained from the combined angle of attack and one or more control points; tracks are rotated, and a speed of movement is set for each track based on the synchronized center of rotation.
EFFECT: steering along complex trajectories is implemented.
16 cl, 13 dwg
