Adaptive Preview based Control System for Unmanned Vehicle Path Tracking
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Abstract
The unmanned vehicle control technology is constantly updated. How to accurately track the path has become a key issue. For this reason, a path tracking control system for an unmanned vehicle is designed. The system control module solves the lateral and longitudinal control problems of the unmanned vehicle. The preview compensation controller corrects the deviation of the vehicle approaching the normal track. The steering control module changes the direction of the vehicle based on the motor command signal. In the software part, the kinematics model of the unmanned vehicle in the plane rectangular coordinate system is built. In this model, the steering geometric track is constructed based on the Stanley algorithm. Track tracking preview model can adjust the preview adaptively according to the lateral deviation and heading angle deviation of the vehicle and gets the adaptive preview point. The simulation results show that the maximum absolute value of preview deviation angle, the root mean square of preview deviation angle and the root mean square of tracking error are lower. The effect of path tracking control is better. The effect of path tracking control is less affected by vehicle speed and road environment.
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