What is a good algorithm for moving from pose A to pose B in a world frame, for a treaded (tank-like) robot?

I have been using the move-to-pose algorithm for a bicycle model, described in section 4.2.4 (p. 75) of Robotics Vision and Control - Fundamental Algorithms in MATLAB by Peter Corke. An example implementation is avaliable here:

The algorithm takes origin and target poses as input and provides velocity ν and steering angle γ as output, following a control law.

I am currently calculating "thrust" for the left and the right tread motors, give ν and γ.

I wonder whether there is a more optimal solution for treaded robots, that would take into account their better maneuverability, compared to a bicycle model and hopefully directly provide thrust for the two motors.


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