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《Computer Engineering》 2019-06
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Path Tracking Method of Unmanned Vehicle Based on MFAPC

DUAN Jianmin;MA Xuezheng;LIU Xin;Information Faculty,Beijing University of Technology;  
In order to improve the tracking precision of the unmanned vehicle steering system to the target path,this paper proposes a new unmanned vehicle path tracking method.It introduces the lateral control scheme of unmanned vehicle based on tracking preview point,and gives the dynamic linearized data model of the system and its multi-step prediction equation.The estimation and prediction model of pseudo-gradient vectors is derived by using the method of least squares.Adopting the advantages of model-free adaptive predictive control,it can perform repeated online calculations through rolling optimization strategies,so as to obtain better dynamic performance.Based on the CarSim/Simulink co-simulation platform,the method is verified when the vehicle speed is 5 m/s and 20 m/s.Results show that compared with the MPC scheme based on vehicle dynamics,this proposed method has better tracking performance.
【Fund】: 北京市属高等学校人才强教计划项目(038000543117004)
【CateGory Index】: TP273;U463.6
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Chinese Journal Full-text Database 3 Hits
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