Trajectory tracking control is the basis of the intelligent and practical application of unmanned ground vehicle, and a well-designed trajectory tracking controller is the key to realize unmanned driving. Based on the 7-DOF vehicle dynamics model and the UniTire model, a trajectory tracking control algorithm based on MPC is proposed for skid steering unmanned vehicle with on low adhesion road. And the effectiveness of trajectory tracking control is proved by CarSim /Simulink co-simulation.


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    Titel :

    Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Zhang, Zhenyuan (Herausgeber:in) / Fan, Zeng (Autor:in) / Li, Xueyuan (Autor:in) / Zhu, Yuzheng (Autor:in) / Hao, Bin (Autor:in) / Li, Songhao (Autor:in) / Zhou, Tong (Autor:in)

    Kongress:

    International Conference on Intelligent Transportation Engineering ; 2021 ; Beijing, China October 29, 2021 - October 31, 2021



    Erscheinungsdatum :

    01.06.2022


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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