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http://dx.doi.org/10.6109/jkiice.2017.21.10.1879

Trajectory tracking control system of unmanned ground vehicle  

Han, Ya-Jun (Department of Electronic Engineering, Gyeongnam National University of Science and Technology)
Kang, Chin-Chul (Department of Electricity, University Of Gyeongnam Namhae)
Kim, Gwan-Hyung (Department of Computer Engineering, Tongmyong University)
Tac, Han-Ho (Department of Electronic Engineering, Gyeongnam National University of Science and Technology)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.21, no.10, 2017 , pp. 1879-1885 More about this Journal
Abstract
This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.
Keywords
Kinematics control; Kinematics tracking models; Neural unmanned ground vehicle; Trajectory tracking control;
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Times Cited By KSCI : 3  (Citation Analysis)
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