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.
Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control
Lect. Notes Electrical Eng.
International Conference on Intelligent Transportation Engineering ; 2021 ; Beijing, China October 29, 2021 - October 31, 2021
2021 6th International Conference on Intelligent Transportation Engineering (ICITE 2021) ; Chapter : 82 ; 937-949
2022-06-01
13 pages
Article/Chapter (Book)
Electronic Resource
English
Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control
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