Regional path moving horizon tracking controller design for autonomous ground vehicles

被引：0
|
作者：
Hongyan Guo
Feng Liu
Ru Yu
Zhenping Sun
Hong Chen
机构：
[1] Jilin University (Campus Nanling),State Key Laboratory of Automotive Simulation and Control
[2] Jilin University (Campus Nanling),College of Communication Engineering
[3] National University of Defense Technology,School of Mechatronic Engineering and Automation
来源：
Science China Information Sciences | 2017年 / 60卷
关键词：
autonomous ground vehicles; regional path tracking; model predictive control; road boundaries; experimental validation;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A novel regional path tracking description is presented in this manuscript, and the moving horizon control method that is model predictive control (MPC) is proposed to discuss the regional path tracking issue which could avoid colliding road boundary when tracking a more complex road effectively. The feasible region for autonomous ground vehicles (AGVs) running is determined first according to the detected road boundaries. Then, in order to keep the actual trajectory of AGVs in the region and satisfy the safety requirements, MPC method is employed to design the path tracking controller considering actuator and road boundary constraints. In order to verify the effectiveness of the proposed method, experiments based on Hongqi AGV HQ430 are carried out, and the results illustrate that the presented method could be successfully applied to Hongqi AGV vehicle HQ 430.
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