Control of the movement of a tracked vehicle

Abstract

An apparatus for controlling a tracked vehicle, the apparatus comprising: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least: obtain information about a route to be followed by the tracked vehicle; obtain information about at least one feature affecting the control of the movement of the tracked vehicle; determine a position of a control point relative to the tracked vehicle based on the at least one feature; and control the movement of the tracked vehicle based on the route and the control point, wherein the control point is configured to align with the route to cause the tracked vehicle to follow the route.