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Regional path moving horizon tracking controller design for autonomous ground vehicles

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Abstract

A novel regional path tracking description is presented in this manuscript, and the moving horizon control method that is model predictive control (MPC) is proposed to discuss the regional path tracking issue which could avoid colliding road boundary when tracking a more complex road effectively. The feasible region for autonomous ground vehicles (AGVs) running is determined first according to the detected road boundaries. Then, in order to keep the actual trajectory of AGVs in the region and satisfy the safety requirements, MPC method is employed to design the path tracking controller considering actuator and road boundary constraints. In order to verify the effectiveness of the proposed method, experiments based on Hongqi AGV HQ430 are carried out, and the results illustrate that the presented method could be successfully applied to Hongqi AGV vehicle HQ 430.

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Authors and Affiliations

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University (Campus Nanling), Changchun, 130025, China

    Hongyan Guo & Hong Chen

  2. College of Communication Engineering, Jilin University (Campus Nanling), Changchun, 130025, China

    Hongyan Guo, Feng Liu, Ru Yu & Hong Chen

  3. School of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, 410073, China

    Zhenping Sun

Authors
  1. Hongyan Guo
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  2. Feng Liu
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  3. Ru Yu
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  4. Zhenping Sun
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  5. Hong Chen
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Corresponding author

Correspondence to Hong Chen.

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Guo, H., Liu, F., Yu, R. et al. Regional path moving horizon tracking controller design for autonomous ground vehicles. Sci. China Inf. Sci. 60, 013201 (2017). https://doi.org/10.1007/s11432-016-0310-1

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  • DOI: https://doi.org/10.1007/s11432-016-0310-1

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