Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

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• 作者：Xiaohui Li^a ; Zhenping Sun^a ; ^{sunzhenping@outlook.com} ; Dongpu Cao^b ; Daxue Liu^a ; Hangen He^a
• 关键词：Autonomous ground vehicles ; Local trajectory planning ; Tracking control ; Obstacle avoidance ; Model-based predictive trajectory generation
• 刊名：Mechanical Systems and Signal Processing
• 出版年：2017
• 出版时间：15 March 2017
• 年：2017
• 卷：87
• 期：part_PB
• 页码：118-137
• 全文大小：4847 K
• 卷排序：87

文摘

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC) framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.