In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Model predictive control-based path tracking control for automatic guided vehicles


    Beteiligte:
    Xu, Haitian (Autor:in) / Yu, Zhixin (Autor:in) / Lu, Xiaohui (Autor:in) / Wang, Shuai (Autor:in) / Li, Shaosong (Autor:in) / Wang, Shujun (Autor:in)


    Erscheinungsdatum :

    18.12.2020


    Format / Umfang :

    555757 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Mixed logical dynamic based path-tracking model predictive control for autonomous vehicles

    Fu, Tengfei / Jing, Houhua / Zhou, Hongliang et al. | IEEE | 2022


    Speed-Varying Path Tracking Based on Model Predictive Control for Autonomous Vehicles

    Tang, Shuang / Li, Jun / Zhou, Wei | Springer Verlag | 2024


    Path Tracking for Autonomous Vehicles Based on Nonlinear Model: Predictive Control Method

    Li, Shaosong / Li, Zheng / Zhang, Bangcheng et al. | British Library Conference Proceedings | 2019


    Path Tracking for Autonomous Vehicles Based on Nonlinear Model: Predictive Control Method

    Zhang, Bangcheng / Li, Shaosong / Zheng, Shunhang et al. | SAE Technical Papers | 2019