CL-FDAPF trajectory planner and FO-LADRC motion controller for autonomous sweeper vehicle
Dequan Zeng,
Yiming Hu,
Tianfu Ai
et al.
Abstract:Aiming at keeping safe in time and addressing disturbance of uncertainty, an closed loop forward simulation filtering double-layer artificial potential field (CL-FDAPF) trajectory planner and first order linear active disturbance rejective control (FO-LADRC) motion controller are proposed for autonomous sweeper vehicle. Firstly, the double-layer artificial potential field, which consists of traditional potential cost layer and safe level layer, is adopted here to keep planning realtime, meet safe limitations a… Show more
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