TRAJECTORY CONTROLLER FOR CONTINUOUS TRACK VEHICLES

Embodiments of a methodology for controlling a vehicle includes (i) determining a first command signal for a first locomotion component of a vehicle and a second command signal for a second locomotion component of the vehicle, (ii) based upon a terrain classification, selecting a first pre-trained model for the first locomotion component and a second pre-trained model for the second locomotion component, (iii) determining a first signal for the first locomotion component of the vehicle by utilizing the first command signal and the second command signal as input to the first pre-trained model and a second signal for the second locomotion component of the vehicle by utilizing the first command signal and the second command signal as input to the second pre-trained model, and (iv) controlling the first locomotion component of the vehicle using the first signal and the second locomotion component of the vehicle using the second signal.