Experiment Study of Multi-Step Predictive Control in AGV Path Tracking

Shi, Enxiu; Guo, Junjie; He, Changlin; Cai, Tao

doi:10.1109/ical.2007.4338622

Cited by 4 publications

(1 citation statement)

References 5 publications

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“…Hwang et al 14 for automatic ground vehicles such as the problem of path tracking a level improved fuzzy dynamic sliding mode control, the controller by the virtual input expectation and path tracking control of two parts and design an improved fuzzy dynamic sliding mode control theory to deal with system uncertainty caused by the vehicle load is different. Shi et al 15 independently formulated non-holonomic constraints and designed a multi-step predictive control algorithm to control AGV tracking and planning path driving, so as to improve path tracking speed and motion stability. Finally, the superiority of the algorithm was verified through theoretical simulation and experiments.…”

Section: Introductionmentioning

confidence: 99%

Research on long-wheelbase vehicle path tracking control based on optimal heading angle

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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Path tracking control technology is a hot topic in the research of intelligent vehicles. It is an important link to realize intelligent transportation to solve the problem of path tracking control for long-wheelbase vehicles. Aiming at the problem that the vehicle body of long wheelbase is prone to collision with the surrounding environment due to the influence of the vehicle axle length in the process of turning, the overall deviation model of vehicle wheelbase and reference path is creatively proposed, and the optimal heading angle of long-wheelbase vehicle in the process of turning is determined by solving the maximum value of the overall deviation model. The MPC path tracking controller is established based on the deviation between the heading angle and the actual vehicle. Eventually established more than a typical working condition in MATLAB and TRUCKSIM joint simulation, to verify the proposed algorithm not only has realized the long-wheelbase vehicle path tracking control and front wheel position closer to the reference curve, effective in reducing long-wheelbase vehicle steering wheel swept area, in the process of reducing long-wheelbase vehicle steering and road environment in the process of collision probability. It improves the trafficability of long-wheelbase vehicles in narrow areas.

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Section: Introductionmentioning

confidence: 99%