Formation driving can effectively solve the problem of driving efficiency and safety of unmanned ground vehicles (UGVs) on expressways. This study introduces a trajectory planning and tracking control method from initial position to its motion virtual leader in formation driving. In order to reduce the disturbance to the surrounding UGVs, trajectory planning is divided into two stages: steady speed tracking stage and parameter value matching stage. A tracking controller combined with a trajectory planner is designed to track the reference trajectory accurately. To ensure calculation speed and accuracy, a nonlinear model‐predictive control model is used in the trajectory planner, and the tracking controller is based on the linear time‐varying model‐predictive control (LTV MPC) model. Simulations are carried out with Carsim and MATLAB/Simulink, and the simulation results and comparative analysis show that the planned trajectory is feasible and can effectively avoid static and moving obstacles. Compared with the Stanley controller, the LTV MPC controller has the advantages of faster convergence speed, better stability and accurately tracking.


    Access

    Download


    Export, share and cite



    Title :

    Trajectory planning and tracking control of unmanned ground vehicle leading by motion virtual leader on expressway


    Contributors:
    Cao, Fugui (author) / Jiang, Haobin (author)

    Published in:

    Publication date :

    2021-02-01


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Expressway vehicle trajectory tracking method and tracking system

    WANG CHANGHUA / ZHENG YUHAI / QI LING et al. | European Patent Office | 2020

    Free access

    Trajectory Planning and Trajectory Tracking Control Method of Unmanned Airship

    Pang, Hongjun / Zheng, Weijuan / Liu, Sa | Springer Verlag | 2023


    TRAJECTORY TRACKING CONTROL FOR UNMANNED AERIAL VEHICLE

    Zaidi, Jamshaid / Butt, Hamza / Nadeem, Zobia et al. | IEEE | 2018


    Unmanned curve collision avoidance trajectory planning and tracking control method

    WANG YANXUE / PEI RUQING / FENG JIANBO et al. | European Patent Office | 2022

    Free access