Dual-path hydrostatic transmissions are commonly used in the off-highway construction industry for propulsion and steering of track-type vehicles. While these transmissions provide simplicity of design, they often suffer from a lack of straight-line controllability due to the varying terrain conditions beneath each independent track. In this paper, the dynamics of the track-type vehicle are modeled using kinetic energy relationships. In this process, an equation describing the effective inertia of each track is derived, which is shown to be dependent upon vehicle mass, track geometry, and the amount of slip that occurs during track operation. The development of this equation is considered to be a significant and unique contribution to the literature. Using a directional compass as a solitary feedback signal, a PID controller is then designed to ensure straight-line tracking for the vehicle. In this research, a typical track-type vehicle is simulated, and it is shown that the PID controller provides robust straight-line controllability as the vehicle is subjected to conditions of extreme terrain-slippage.

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