Research on path tracking of intelligent vehicle based on optimal deviation control

• DOI: 10.1080/10584587.2018.1457370
• Publication Date: 2019-01-09T17:08:20Z
• Authors: Wenbin Zhang; Wenhao Bai; Jinyan Wang; Lei Zhao; Chuxia Ma
• Keywords: Tracking error; Tracking (education)

Aiming at the problem that transformer substation intelligent detection of vehicles in process moving away from planning path, based on four-wheel model vehicle, this paper proposes a fuzzy adaptive PID path tracking control method optimal lateral deviation. Firstly, kinematic and equation linear 2-DOF vehicle are established by taking front wheel steering angle as input system. Secondly, quadratic regulator (LQR) is introduced to minimize transverse error between expected path. Finally, parameters updated with deviation variation rate deviation, Vehicle adjusted adaptively realize stable desired The simulation results show proposed concentrated -0.08m +0.08m, can be better tracked.