2022
DOI: 10.3390/biomimetics7040238
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Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control

Abstract: For the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinematic model is designed considering the structural advantages of independent steering and independent driving of the unmanned vehicle, and this model is applied to the path tracking strategy. The strategy is divided into two levels of control. The upper level of contr… Show more

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