Yu ZHANG

The experiment of fixing the velocity of both sprockets of UTV proves that the tracked vehicle slips considerably when steering on a slope, making it impossible for the vehicle to follow the desired trajectory precisely, and it is necessary to propose an effective and feasible solution specifically for the motion planning of UTV slope-steering. Through the slope-steering verification experiments of UTV, the accuracy and feasibility of the SSTP-RRT motion planning algorithm are verified, providing effective technical support for the accurate driving of UTV slope-steering.