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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ru Yu Hongyan Guo Zhenping Sun Hong Chen |
| Copyright Year | 2015 |
| Description | Author affiliation: Coll. of Mechatron. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Zhenping Sun) || State Key Lab. of Automotive Simulation & Control, Jilin Univ. Coll. of Commun. Eng., China (Ru Yu; Hongyan Guo; Hong Chen) |
| Abstract | Path tracking issues of autonomous ground vehicles (AGVs) have attracted more attention in recent years with the intelligent and electrified development of vehicles. In order to make AGVs path tracking problem more flexible, regional path tracking problem is discussed in this manuscript based on model predictive control (MPC) method, where the front wheel steering angle is regarded as the control variable. The feasible region for AGVs running is determined first according to the detected road boundaries. In the following, AGVs running in this region is considered using kinematic model. Then, in order to make the actual trajectory of AGVs keep in the region and satisfy the safety requirements, MPC method is employed to design path tracking controller considering the vehicle dynamics, the actuator and state constraints. In order to verify the effectiveness of the proposed algorithm, simulations under various test conditions are carried out using a high fidelity vehicle simulator veDYNA, where the Hongqi vehicle HQ430 parameters are matched. The results obtained from the simulation illustrate that the proposed algorithm obtains good performance in dealing with the regional path tracking problem. |
| Starting Page | 2510 |
| Ending Page | 2515 |
| File Size | 620428 |
| Page Count | 6 |
| File Format | |
| e-ISBN | 9781479986972 |
| DOI | 10.1109/SMC.2015.439 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-10-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Roads Wheels Kinematics Vehicle dynamics Land vehicles Tires Model predictive control Autonomous ground vehicles Regional path tracking |
| Content Type | Text |
| Resource Type | Article |
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