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To address the issues of easy overturning and poor safety of crawler work machines operating on steep slopes in hilly and mountainous areas, this study develops a structural design scheme based on a “three-layer frame” structure. An omnidirectional leveling system with hydraulic interconnection is designed to maintain platform stability by ensuring a stationary central point during leveling. Furthermore, a sliding mode synchronization control method based on a disturbance observer is proposed to reduce the synchronization error of the hydraulic cylinders and enhance leveling precision. The system’s performance is validated through an AMESim-MATLAB/Simulink co-simulation platform, demonstrating significant improvements over traditional PID control. Specifically, both lateral and longitudinal leveling times are reduced, rise time decreases by 21.8% on average, and overall leveling time is reduced by 35.5%, with synchronization errors maintained within ±6 × 10−4 m. Finally, physical prototype testing further confirms the system’s effectiveness, achieving an average body inclination error of 2.55% and a hydraulic cylinder synchronization error of 8.2%. These findings validate the feasibility and superiority of the proposed omnidirectional leveling system for the crawler work machine in hilly and mountainous regions.

Driverless technology refers to the technology that vehicles use to drive independently with the help of driverless system under the condition of unmanned intervention. The working environment of construction machinery is bad, and the working conditions are complex. The use of driverless technology can greatly reduce the risk of driver operation, reduce labor costs and improve economic benefits.Aiming at the problem of the GPS positioning signal in the working environment of construction machinery being weak and not able to achieve accurate positioning, this paper uses the fusion SLAM algorithm based on improved NDT to realize the real-time positioning of the whole vehicle through reconstruction of the scene. Considering that the motion characteristics of crawler construction machinery are different from those of ordinary passenger cars, this paper improves the existing pure pursuit algorithm. Simulations and real vehicle tests show that the algorithm combined with the fusion SLAM algorithm can realize the motion control of driverless crawler construction machinery well, complete the tracking of the set trajectory perfectly and have high robustness. Considering that there is no mature walking method of driverless crawler construction machinery for reference, the research of this paper will lay a foundation for the development of driverless crawler construction machinery.